Abstract
The work, described in this paper, is performed as part of a collision-free motion-planning system for two cooperating robots in an assembly cell. The robots are of different types, an anthropomorphic type and a scara type. This is further described in [1].
This collision-free motion-planning is part of an umbrella project: the Delft Intelligent Assembly Cell (DIAC) -project. The aim of the DIAC project is to obtain within four years a reliable working demonstration of a flexible assembly cell.
In this paper an algorithm is introduced for the planning of optimally shaped trajectories in joint-space through complicated collision-free subspaces. For this purpose a new approach on the area of robot-trajectory planning is introduced using Hermite splines.
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© 1992 Springer Science+Business Media Dordrecht
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Rieswijk, T.A., Schalkwijk, P., Honderd, G. (1992). Planning and optimization of geometrical trajectories inside collision-free subspaces with the aid of high order Hermite splines. In: Tzafestas, S.G. (eds) Robotic Systems. Microprocessor-Based and Intelligent Systems Engineering, vol 10. Springer, Dordrecht. https://doi.org/10.1007/978-94-011-2526-0_26
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DOI: https://doi.org/10.1007/978-94-011-2526-0_26
Publisher Name: Springer, Dordrecht
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