Planning and execution of straight line manipulator trajectories

@article{Taylor1979PlanningAE,
  title={Planning and execution of straight line manipulator trajectories},
  author={Russell H. Taylor},
  journal={Ibm Journal of Research and Development},
  year={1979},
  volume={23},
  pages={424-436}
}
Recently developed manipulator control languages typically specify motions as sequences of points through which a tool affixed to the end of the manipulator is to pass. The effectiveness of such motion specification formalisms is greatly increased if the tool moves in a straight line between the user-specified points. This paper describes two methods for achieving such straight line motions. The first method is a refinement of one developed in 1974 by R. Paul. Intermediate points are… Expand

Figures and Tables from this paper

Optimal time joint‐trajectory planning for an industrial manipulator using linear interpolation
The path of an industrial manipulator in a crowded workspace generally consists of a set of Cartesian straight-line segments connecting a set of two adjacent points. To achieve the CartesianExpand
A parallel algorithm for generating set points in cartesian space for spline motion
TLDR
This parallel algorithm for path planning is a function of Cartesian displacement which is determined by the system's speed profile and interpolates a spline path directly based on the circular arc generation method instead of composing piecewise‐straight line segments. Expand
Minimum Trajectory Control of Robot: Part I — Minimization of Intermediate Points
A functional path of the trajectory was defined by Brady et al. [1] as a space curve traced by the end-effector, and a trajectory includes velocity and acceleration information. Taylor [2] recognizedExpand
Trajectory Generation for Sensor-Driven and Time-Varying Tasks
TLDR
A new technique for performing transitions in which adjacent path segments are "blended" together, with excess acceleration being removed using an estimate of the initial path velocities, which can handle situations where the paths are changing with time. Expand
On-line smooth trajectory planning for manipulators
TLDR
This work proposes a smooth, on-line, trajectory generation method for manipulators based on forming a fifth order polynomial (quintic) trajectory following a sine-wave template, such that the velocity, acceleration and jerk limits are respected throughout the trajectory. Expand
Design and implementation of a robot force and motion server
TLDR
A modified hybrid control method for manipulator compliance is proposed and implemented and overcomes the problems existing in previous approaches such as stiffness control and hybrid control. Expand
Trajectory planning for coordinated motion of a robot and a positioning table. I. Path specification
TLDR
The proposed strategies for coordinating the tool and workpiece motion in continuous manufacturing processes such as sealing, welding, and laser cutting are shown to be applicable to other coordinated motion systems. Expand
Design of Manipulator Trajectories with Minimum Motion Time and Specified Accuracy
In continuous path control of robotic manipulators, the trajectory can be planned in joint coordinates to avoid the big number of computations. The cubic spline function can easily be solved toExpand
On-line Cartesian trajectory control of mechanisms along complex curves
TLDR
New methods have been developed to control a mechanism's realtime Cartesian motion along spatially complex curves such as Non-Uniform Rational B-splines and Polynomial approximation methods successfully approximate joint speeds and accelerations rather than require a closed-form inverse Jacobian solution. Expand
A control method for the movement of a robot arm along a prescribed path
  • J. Golzy
  • Mathematics
  • [1990] Proceedings. The Twenty-Second Southeastern Symposium on System Theory
  • 1990
A method for moving a robot arm along a prescribed path with sufficient accuracy and lower cost is presented. The entire path of movement is divided into n equal segments of fixed length 1 each. ByExpand
...
1
2
3
4
5
...

References

SHOWING 1-10 OF 15 REFERENCES
Planning and execution of straight line manipulator trajectories
Recently developed manipulator control languages typically specify motions as sequences of points through which a tool affixed to the end of the manipulator is to pass. The effectiveness of such mo...
Modelling, trajectory calculation and servoing of a computer controlled arm
TLDR
In modelling the author uses a symbolic data structure to represent objects in the environment and a planning program interprets symbolic arm control instructions and generates a plan consisting of arm motions and hand actions. Expand
Resolved Motion Rate Control of Manipulators and Human Prostheses
TLDR
The kinematics of remote manipulators and human prostheses is analyzed and suggests solutions to problems of coordination, motion under task constraints, and appreciation of forces encountered by the controlled hand. Expand
AUTOPASS: An Automatic Programming System for Computer Controlled Mechanical Assembly
TLDR
The AUTOPASS language is oriented towards objects and assembly operations, rather than motions of mechanical assembly machines, to enable the user to concentrate on the overall assembly sequence and to program with English-like statements using names and terminology that are familiar to him. Expand
An Experimental System for Computer Controlled Mechanical Assembly
TLDR
The software and hardware architecture of a system designed as a research tool for experiments on programming the computer controlled assembly of mechanical objects and the application of the system to sample assemblies is discussed. Expand
AL, a programming system for automation.
TLDR
The design of AL is described, which is currently being implemented as a successor to the Stanford WAVE system, and includes advanced features for describing individual motions of manipulators, for using sensory information, and for describing assembly algorithms in terms of common domain-specific primitives. Expand
Exploratory Research in Advanced Automation
  • Exploratory Research in Advanced Automation
  • 1976
Manipulator Path Control
  • Proc. 1975 Znternational Conference on Cybernetics and Society
  • 1975
A Programming System for Automation, Stanford Artificial Intelligence Laboratory Memo AIM-177
  • Stanford Computer Science Report STAN
  • 1974
...
1
2
...