Toward efficient trajectory planning: the path-velocity decomposition
International Journal of Robotics Research
Quintic splines for kinematic design
Computer-Aided Design
Introduction to Robotics
A technique for time-jerk optimal planning of robot trajectories
Robotics and Computer-Integrated Manufacturing
Optimal trajectory planning for industrial robots
Advances in Engineering Software
Online trajectory generation: basic concepts for instantaneous reactions to unforeseen events
IEEE Transactions on Robotics
Smooth joint trajectory planning for humanoid robots based on B-splines
ROBIO'09 Proceedings of the 2009 international conference on Robotics and biomimetics
Global manipulation planning in robot joint space with task constraints
IEEE Transactions on Robotics
Computer Methods for Engineering with MATLAB Applications, Second Edition
Computer Methods for Engineering with MATLAB Applications, Second Edition
Online Trajectory Generation: Straight-Line Trajectories
IEEE Transactions on Robotics
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In this paper a high smooth trajectory planning method is presented to improve the practical performance of tracking control for robot manipulators. The strategy is designed as a combination of the planning with multi-degree splines in Cartesian space and multi-degree B-splines in joint space. Following implementation, under the premise of precisely passing the via-points required, the cubic spline is used in Cartesian space planning to make either the velocities or the accelerations at the initial and ending moments controllable for the end effector. While the septuple B-spline is applied in joint space planning to make the velocities, accelerations and jerks bounded and continuous, with the initial and ending values of them configurable. In the meantime, minimum-time optimization problem is also discussed. Experimental results show that, the proposed approach is an effective solution to trajectory planning, with ensuring a both smooth and efficiency tracking performance with fluent movement for the robot manipulators.