Real-time Implementation and Comparative Study on Trajectory Planning Methods for Robot Manipulators

로보트 매니퓰레이터에 대한 궤적 계획 방법들의 실시간 구현 및 상호 비교 연구

This paper describes the methods of spline low-order polynomial trajectory planning using only a few limited look-ahead knots on the desired trajectory for the real-time computing. Specifically presented are the mixed joint trajectory planning methods which apply linear or LSPB method to initial and finial segments, overlapped cubic spline method to the other segments, where the displacements for initial and finial segments are chosen to be relatively smaller than the displacements for the other, equidistant segments. Experimental and simulation results of these methods show smooth motions and improved path tracking performances compared with any other interpolated joint trajectory planning methods.