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Algorithms of trajectory planning with constrained deviation from a given end-effector path

  • Ignacy Dulȩba (a1) and Iwona Karcz–Dulȩba (a1)

Abstract

In this paper two well known and two new methods, and corresponding algorithms, of trajectory planning with a constrained end-effector path tracking error are presented and compared. They are: an exact path following method, the Taylor's algorithm of following a straight line with prescribed accuracy, a local optimization method, and a method of local trajectory shortening. It appears that the last two methods provide path following with a prescribed accuracy while keeping a planned trajectory as short as possible. Presented algorithms can extend robot programming languages with a tool of trajectory planning.

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Algorithms of trajectory planning with constrained deviation from a given end-effector path

  • Ignacy Dulȩba (a1) and Iwona Karcz–Dulȩba (a1)

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