Mathematical modeling and simulation of the inverse kinematic of a redundant robotic manipulator using azimuthal angles and spherical polar piecewise interpolation

DOI10.1016/j.matcom.2023.02.010OpenAlexW4322743826MaRDI QIDQ6104702

Mihai Dupac

Publication date: 28 June 2023

Published in: Mathematics and Computers in Simulation (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.matcom.2023.02.010

zbMATH Keywords

mathematical modelingtrajectory planningpolar piecewise interpolation

Mathematics Subject Classification ID

Mechanics of particles and systems (70-XX) Systems theory; control (93-XX)

Cites Work

• A new method for smooth trajectory planning of robot manipulators
• Planning of manipulator motion trajectory with higher-degree polynomials use
• Optimization of the trajectory planning of robot manipulators taking into account the dynamics of the system.
• High precision interpolation algorithm for 3D parametric curve generation
• Shape-preserving, multiscale interpolation by univariate curvature-based cubic \(L_{1}\) splines in Cartesian and polar coordinates
• A kinematic structure-based classification and compact kinematic equations for six-dof industrial robotic manipulators
• Univariate cubic \(L_{p}\) splines and shape-preserving, multiscale interpolation by univariate cubic \(L_{1}\) splines
• Advanced Dynamics
• Shape preserving C² cubic spline interpolation
• A path planning approach of 3D manipulators using zenithal gnomic projection and polar piecewise interpolation
• Smooth trajectory generation for rotating extensible manipulators

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