NURBS to Avoid Boundary Orientation Poses in Serial Manipulators

Abstract

Abstract A procedure to build NURBS motion interpolants to avoid boundary orientation poses for serial manipulator architectures is presented. As an example, the PUMA architecture was used. The procedure, which emerged from B‐spline curves theory, enables a local change of the NURBS motion interpolant. The change may be introduced in any arbitrary neighborhood of the chosen boundary orientation pose. Therefore, when tracking a trajectory, one may change NURBS motion interpolant value at any time instant, leaving its remaining values untouched. Recommendation for further research pertains to exploiting the flexibility of NURBS applied to robot kinematics. © 2003 Wiley Periodicals, Inc.