Trajectory planning in a given environment is a difficult task, notably if a real time solution is required. In this paper the trajectrories are described by means of B-splines, so that the search of an eventually optimal solution is reduced to a parametric one in contrast to functional solutions.
Trajectory Planning of Industrial Robots in a Structured Environment
BALESTRINO, ALDO;BICCHI, ANTONIO;LANDI, ALBERTO
1992-01-01
Abstract
Trajectory planning in a given environment is a difficult task, notably if a real time solution is required. In this paper the trajectrories are described by means of B-splines, so that the search of an eventually optimal solution is reduced to a parametric one in contrast to functional solutions.File in questo prodotto:
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