The three-cubic method: An optional online robot joint trajectory generator under velocity, acceleration, and wandering constraints

Journal Article · Wed Sep 01 00:00:00 EDT 1999 · International Journal of Robotics Research

DOI:https://doi.org/10.1177/02783649922066637· OSTI ID:20001199

Tondu, B; Bazaz, S A

An original method called the three-cubic method is proposed to generate online robot joint trajectories interpolating given position points with associated velocities. The method is based on an acceleration profile composed of three cubic polynomial segments, which ensure a zero acceleration at each intermediate point. Velocity and acceleration continuity is obtained, and this three-cubics combination allows the analytical solution to the minimum time trajectory problem under maximum velocity and acceleration constraints. Possible wandering is detected and can be overcome. Furthermore, the analytical solution to the minimum time trajectory problem leads to an online trajectory computation.

• Research Organization: LESIA, Toulouse (FR)
• OSTI ID: 20001199
• Journal Information: International Journal of Robotics Research, Vol. 18, Issue 9; Other Information: PBD: Sep 1999; ISSN 0278-3649
• Country of Publication: United States
• Language: English

Related Subjects

32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATION
ROBOTS
JOINTS
TRAJECTORIES
CALCULATION METHODS
ON-LINE CONTROL SYSTEMS