Determination of the Minimum Number of Intermediate Points for the Robot Manipulator Cartesian Stright Motion

로보트 매니퓰레이터의 카르테시안 직선운동을 위한 경로집의 최소화

Between any two points in the Cartesian space, the straight motion has many distinct advantages in path/trajectory plannings, specially in a crowded workspace. But to achieve this motion is a nontrivial task. One standard way to approximate this motion is to plae enough intermediate points along the desired path and linearly interpolate two adjacent intermediate points in the joint space. In this approach, however, the determination of the minimum number of intermediate points is very important from several aspects. A scheme that can effectively accomplish this purpose is established in this paper. This scheme is based on several search methods. The results are demonstrated using the PUMA 560 series manipulator.