CASIA OpenIR  > 复杂系统管理与控制国家重点实验室  > 先进机器人
A transition method based on Bezier curve for trajectory planning in Cartesian space
Zhang SL(张少林)1,2; Jing FS(景奉水)1,2; Wang S(王硕)1,2
Source PublicationHigh Technology Letters
2017
Volume23Issue:2Pages:141-148
Abstract

In order to smooth the trajectory of a robot and reduce dwell time, a transition curve is introduced between two adjacent curves in three-dimensional space. G2 continuity is guaranteed to transit smoothly. To minimize the amount of calculation, cubic and quartic Bezier curves are both analyzed. Furthermore, the contour curve is characterized by a transition parameter which defines the distance to the corner of the deviation. How to define the transition points for different curves is presented. A general move command interface is defined for receiving the curve limitations and transition parameters. Then, how to calculate the control points of the cubic and quartic Bezier curves is analyzed and given. Different situations are discussed separately, including transition between two lines, transition between a line and a circle, and transition between two circles. Finally, the experiments are carried out on a six degree of freedom ( DOF) industrial robot to validate the proposed method. Results of single transition and multiple transitions are presented. The trajectories in the joint space are also analyzed. The results indicate that the method achieves G2 continuity within the transition constraint and has good efficiency and adaptability.

KeywordTransition Method Bezier Curve G2 Continuity Transition Constraint
Indexed ByEI
Language英语
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/23681
Collection复杂系统管理与控制国家重点实验室_先进机器人
Corresponding AuthorWang S(王硕)
Affiliation1.中国科学院自动化研究所
2.中国科学院大学
First Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Corresponding Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Recommended Citation
GB/T 7714
Zhang SL,Jing FS,Wang S. A transition method based on Bezier curve for trajectory planning in Cartesian space[J]. High Technology Letters,2017,23(2):141-148.
APA Zhang SL,Jing FS,&Wang S.(2017).A transition method based on Bezier curve for trajectory planning in Cartesian space.High Technology Letters,23(2),141-148.
MLA Zhang SL,et al."A transition method based on Bezier curve for trajectory planning in Cartesian space".High Technology Letters 23.2(2017):141-148.
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