Trajectory Planning of Manipulator Using Optimization of Uniform B-Spline.
Hiroaki OzakiHua ChiuPublished in: J. Robotics Mechatronics (1994)
Keyphrases
- b spline
- trajectory planning
- robot manipulators
- path planning
- control points
- motion planning
- least squares
- degrees of freedom
- basis functions
- tensor product
- obstacle avoidance
- affine transformation
- global optimization
- curve fitting
- control scheme
- optimization algorithm
- dynamic environments
- cubic b spline
- free form deformation
- dynamic model
- real time
- vision system
- mobile robot
- surface fitting
- control method
- evolutionary algorithm