Blending of linear and angular velocities between sequential specified points in task space constitutes theoretical basis of improved method of computing trajectories followed by robotic manipulators. In method, generalized velocity-vector-blending technique provides relatively simple, common conceptual framework for blending linear, angular, and other parametric velocities. Velocity vectors originate from straight-line segments connecting specified task-space points, called "via frames" and represent specified robot poses. Linear-velocity-blending functions chosen from among first-order, third-order-polynomial, and cycloidal options. Angular velocities blended by use of first-order approximation of previous orientation-matrix-blending formulation. Angular-velocity approximation yields small residual error, quantified and corrected. Method offers both relative simplicity and speed needed for generation of robot-manipulator trajectories in real time.


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    Title :

    Blending Velocities In Task Space In Computing Robot Motions


    Contributors:

    Published in:

    Publication date :

    1995-02-01



    Type of media :

    Miscellaneous


    Type of material :

    No indication


    Language :

    English


    Keywords :




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