Table of Contents Author Guidelines Submit a Manuscript
Journal of Robotics
Volume 2013, Article ID 735958, 6 pages
Research Article

Simplified Robotics Joint-Space Trajectory Generation with a via Point Using a Single Polynomial

Department of Mechanical Engineering, Ohio University, Athens, OH 45701, USA

Received 3 December 2012; Revised 30 January 2013; Accepted 31 January 2013

Academic Editor: Gordon R. Pennock

Copyright © 2013 Robert L. Williams. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

Linked References

  1. R. P. Paul and H. Zhong, “Robot motion trajectory specification and generation,” in Proceedings of the 2nd International Symposium on Robotics Research, Kyoto, Japan, August 1984.
  2. A. J. Koivo, Fundamentals For Control of Robotic Manipulators, John Wiley and Sons, New York, NY, USA, 1989.
  3. R. E. Parkin, Applied Robotic Analysis, Prentice Hall, Englewood Cliffs, NJ, USA, 1991.
  4. L. Sciavicco and B. Siciliano, Robotics: Modeling, Planning, and Control, McGraw-Hill, New York, NY, USA, 2008.
  5. J. J. Craig, Introduction To Robotics: Mechanics and Control, Pearson Prentice Hall, Upper Saddle River, NJ USA, 3rd edition, 2005.
  6. M. W. Spong, S. Hutchinson, and M. Vidyasagar, Robot Modeling and Control, John Wiley and Sons, New York, NY, USA, 2005.
  7. R. N. Jazar, Theory of Applied Robotics: Kinematics, Dynamics, and Control, Springer, New York, NY, USA, 2nd edition, 2010.
  8. K. S. Fu, R. C. Gonzalez, and C. S. G. Lee, Robotics: Control, Sensing, Vision, and Intelligence, McGraw-Hill, New York, NY, USA, 1987.
  9. J. Angeles, Fundamentals of Robotic Mechanical Systems, Springer, New York, NY, USA, 3rd edition, 2007.
  10. R. L. Williams II, “Improved robotics joint-space trajectory generation with via point,” in Proceedings of the ASME IDETC/CIE, Washington, DC, USA, August 2011, DETC2011-47592.
  11. S. Macfarlane and E. A. Croft, “Jerk-bounded manipulator trajectory planning: design for real-time applications,” IEEE Transactions on Robotics and Automation, vol. 19, no. 1, pp. 42–52, 2003. View at Publisher · View at Google Scholar · View at Scopus
  12. C. M. Gosselin and A. Hadj-Messaoud, “Automatic planning of smooth trajectories for pick-and-place operations,” Journal of Mechanical Design, Transactions Of the ASME, vol. 115, no. 3, pp. 450–456, 1993. View at Google Scholar · View at Scopus
  13. K. Petrinec and Z. Kovacic, “Trajectory planning algorithm based on the continuity of jerk,” in 2007 Mediterranean Conference on Control and Automation, MED, grc, July 2007. View at Publisher · View at Google Scholar · View at Scopus