Algorithms of trajectory planning with constrained deviation from a given end-effector path

  • Authors:

  • Ignacy Dulȩba;Iwona Karcz–dulȩba

  • Affiliations:

  • Inst. of Eng. Cyber., Wrocław Univ. of Technol., 50-372 Wroclaw (Poland), iwd@ict.pwr.wroc.pl kdiwona@ict.pwr.wroc.pl;Inst. of Eng. Cyber., Wrocław Univ. of Technol., 50-372 Wroclaw (Poland), iwd@ict.pwr.wroc.pl kdiwona@ict.pwr.wroc.pl

  • Venue:
  • Robotica
  • Year:
  • 2004

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Abstract

In this paper two well known and two new methods, and corresponding algorithms, of trajectory planning with a constrained end-effector path tracking error are presented and compared. They are: an exact path following method, the Taylor's algorithm of following a straight line with prescribed accuracy, a local optimization method, and a method of local trajectory shortening. It appears that the last two methods provide path following with a prescribed accuracy while keeping a planned trajectory as short as possible. Presented algorithms can extend robot programming languages with a tool of trajectory planning.