摘要
In order to ensure the smoothness of joint motion and the accurateness of the target position estimate, B-spline has been widely used in joint trajectory planning for mechanical arms. In this paper, the base functions of the third order, fifth order, and seventh order of uniform B-splines are given. Comparison between piecewise polynomial and B-splines on trajectory planning is presented to show the differences in computational complexity. The trajectories planned in using three different order B-splines are shown and discussed. Detailed analysis of the planning with virtual points is described in this paper.
| 源语言 | 英语 |
|---|---|
| 主期刊名 | Proceedings of the 29th Chinese Control and Decision Conference, CCDC 2017 |
| 出版商 | Institute of Electrical and Electronics Engineers Inc. |
| 页 | 4061-4066 |
| 页数 | 6 |
| ISBN（电子版） | 9781509046560 |
| DOI | |
| 出版状态 | 已出版 - 12 7月 2017 |
| 活动 | 29th Chinese Control and Decision Conference, CCDC 2017 - Chongqing, 中国 期限: 28 5月 2017 → 30 5月 2017 |
出版系列
| 姓名 | Proceedings of the 29th Chinese Control and Decision Conference, CCDC 2017 |
|---|
会议
| 会议 | 29th Chinese Control and Decision Conference, CCDC 2017 |
|---|---|
| 国家/地区 | 中国 |
| 市 | Chongqing |
| 时期 | 28/05/17 → 30/05/17 |
指纹
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Meng, Z., Feng, P., Chao, P., Weixing, L., & Qi, G. (2017). Research on mechanical arms trajectory-planning using different order B-splines. 在 Proceedings of the 29th Chinese Control and Decision Conference, CCDC 2017 (页码 4061-4066). 文章 7979211 (Proceedings of the 29th Chinese Control and Decision Conference, CCDC 2017). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CCDC.2017.7979211