Hostname: page-component-586b7cd67f-t7czq Total loading time: 0 Render date: 2024-11-22T04:49:18.459Z Has data issue: false hasContentIssue false
  • English
  • Français

Data reduction for manipulator path planning

Published online by Cambridge University Press:  24 October 2003

Werner Korb  and
Inge Troch
Werner Korb
Affiliation:
University of Heidelberg (Dept. for Maxillofacial Surgery), Im Neuenheimer Feld 400, D-69120 Heidelberg (Germany)[email protected]
Inge Troch
Affiliation:
Vienna University of Technology (Institüt für Analysis und Technische Mathematik); Wiedner Haupstr. 8–10/114; A-1040 Vienna (Austria)[email protected]
Get access Rights & Permissions [Opens in a new window]

Abstract

Today, in robot applications continuous paths often result from CAD or other planning tools. We present here an approach to the question that has been discussed for a long time, i.e. how to approximate a given path by a second one in such a way that the latter lies in a tube of given radius ε around the first. The approximation should be a (normally cubic) spline with a small number of breakpoints. The strategy is based on algorithms used in “computer aided geometric design” and is applied to examples from industrial and surgical robotics.

Keywords

Path planningData reductionB-splineMathematical optimizationSpline interpolationKinematicsSurgical robot
Type
Research Article
Information
Robotica , Volume 21 , Issue 6 , December 2003 , pp. 605 - 614
Copyright
© 2003 Cambridge University Press

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)