The Planning of Straight Line Trajectory in Robotics Using Interactive Graphics

摘要

The planning of straight line trajectory using the interactive computer graphics simulation of robot manipulator movement is discussed. This new approach to straight line motion planning improves the 'bound deviation joint paths' developed by R. M. Taylor (1979). The new approach has three characteristics: (1) linear interpolation in joint space; (2) unequal intervals for interpolating knot points; (3) using interactive computer graphics to assure that the maximum deviation in the whole segment is less than the pre-specified values. The structure and mathematical basis of a computer program developed for this purpose are presented.