In the trajectory planning of robotic manipulators, nonuniform rational B-splines (NURBS) are well-known parametric curves with exact representation of various freeform curves as well as common profiles such as lines, parabolas, circles, etc. In this chapter, the fundamentals of NURBS are firstly introduced, and then, an approach is presented to trajectory reparameterization w.r.t. time for generation of geometric path and motion laws. Trajectory planning of the illustrative parallel SCARA robot is illustrated numerically, where quintic NURBS curves are adopted to synthesize the trajectory, aiming at continuity of the robot velocity, acceleration and jerk. Real-time and off-line programmed trajectory planning is carried out respectively, where the influence of time intervals of curve segments and curve weights onto the robot performances are studied.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    NURBS Curve Based Trajectory Design


    Beteiligte:
    Wu, Guanglei (Autor:in)

    Erschienen in:

    Parallel PnP Robots ; Kapitel : 11 ; 221-244


    Erscheinungsdatum :

    25.03.2025


    Format / Umfang :

    24 pages




    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




    Rational Interpolation of Cubic NURBS Curve

    Jishen, Z. / Huawei, L. | British Library Online Contents | 2005


    CNC Processing of Nurbs Curve Based on AutoCAD

    Di, F. | British Library Conference Proceedings | 2014


    NURBS-Based Sequential Convex Programming for Onboard Trajectory Optimization

    Zhao, Mengxin / Pan, Binfeng / Ran, Yunting et al. | IEEE | 2024


    NURBS Representation of Combination Curve and Its Application

    Shaoping, C. / Binkang, C. | British Library Online Contents | 2005


    Segment Interpolation of NURBS Curve Based on Feedrate Sensitive Corner's Sharp Points

    Nie, Mingxing / Jiang, Xinhua / Chen, Xingwu | British Library Online Contents | 2013