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Computer Aided Design of Robot Motion

A. Cebula, P.J. Zsombor-Murray Methods of computer aided geometric design have been used recently to effectively design smooth rigid body motions that interpolate through a given, discrete pose sequence. In this project we aim use these methods to smoothly control the motion of a system of rigid bodies, i.e., the chains of jointed links in a manipulator system, so as to ultimately enhance the dynamic performance of any given robot. The challenge, here, lies in the treatment of intermediate links, which, unlike the end effector and the workpiece, are kinematically constrained by the joints connecting them to their neighbours. To the best of our knowledge, this has never been attempted, previous work having been restricted to a) splining of individual joint variable rate and B-spline and NURBS pose interpolation of what is essentially unconstrained motion of a rigid body in a) the plane and c) in space.



Thierry Baron
Mon Apr 7 12:54:24 EDT 1997