Spline Method for Path Planning Using Nonlinear Programming

Abstract

When we plan a trajectory of robot arm, we often use a method drawing smooth curve between given points. In this computation of the trajectory, spline method is used such as parametric spline. By using spline method we easily guess the approximate trajectory from given data points and function characterizing each coordinate. However since piecewise power series are mainly used as spline function, we need much capacity for memorizing the obtained curve. This is unsuitable for robot arm path planning.