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Published online by Cambridge University Press: 09 March 2009
The concept of tension is introduced and applied to a robot's trajectories, then new joint interpolation strategies are implemented. A joint interpolation strategy is proposed which uses joint variable reference data calculated from inverse kinematics, along with a polynomial equation or quintic equation as the parametric equation of the joint variables. This method can use any polynomial equation which has the C2 continuity property and has intermediate points which pass through the reference data. For the time variable, first order linear equations can be used where the number of equations is n – 1, n being the number of points in the reference data. Due to large reductions in computational burden resulting from this form, this method may be suited for real time applications.