Kinematics and dynamics motion planning by polar piecewise interpolation and geometric considerations

DOI10.1016/j.endm.2018.05.004zbMath1453.70001OpenAlexW2808533229MaRDI QIDQ1791973

Mihai Dupac

Publication date: 11 October 2018

Full work available at URL: http://eprints.bournemouth.ac.uk/30906/1/Paper_M_Dupac_DM_V1.pdf

zbMATH Keywords

kinematicsdynamicsnumerical methodsmotion planning

Mathematics Subject Classification ID

Numerical computation using splines (65D07) Automated systems (robots, etc.) in control theory (93C85) Computational methods for problems pertaining to mechanics of particles and systems (70-08) Robot dynamics and control of rigid bodies (70E60)

Uses Software

• Matlab

Cites Work

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• Mathematical modelling and dynamic response of a multi-straight-line path tracing flexible robot manipulator with rotating-prismatic joint
• Shape-preserving, multiscale interpolation by univariate curvature-based cubic \(L_{1}\) splines in Cartesian and polar coordinates
• Dynamic analysis of flexible manipulators, a literature review
• Advanced Dynamics
• Trajectory-planning through interpolation by overlapping cubic arcs and cubic splines
• Smooth trajectory generation for rotating extensible manipulators

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