Making the Oslo algorithm more efficient
SIAM Journal on Numerical Analysis
Robotics: control, sensing, vision, and intelligence
Robotics: control, sensing, vision, and intelligence
Knot removal for parametric B-spline curves and surfaces
Computer Aided Geometric Design
Introduction to Robotics: Mechanics and Control
Introduction to Robotics: Mechanics and Control
Modelling and Control of Robot Manipulators
Modelling and Control of Robot Manipulators
Robot Manipulators: Mathematics, Programming, and Control
Robot Manipulators: Mathematics, Programming, and Control
Computer-Numerik 1
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Today, in robot applications continuous paths often result from CAD or other planning tools. We present here an approach to the question that has been discussed for a long time, i.e. how to approximate a given path by a second one in such a way that the latter lies in a tube of given radius ϵ around the first. The approximation should be a (normally cubic) spline with a small number of breakpoints. The strategy is based on algorithms used in “computer aided geometric design” and is applied to examples from industrial and surgical robotics.