Trajectory planning of robot manipulators by using spline function approach

摘要

Presents a method for trajectory planning of robot manipulators by using a spline function approach. The motion of each joint of the robot is specified by a set of spline functions. The method is simple and needs less computation. In addition, the singular-point problems can not appear in the proposed method. So the method can be used to generate a smooth, steady and noiseless trajectory of robots.