NDLI: Generation and optimality of trajectory described by B-spline

Content Provider	IEEE Xplore Digital Library
Author	Chang-Jun Lin Ozaki, H. Qiu, H. Shimogawa, T.
Copyright Year	2001
Description	Author affiliation: Dept. of Mech. Eng., Fukuoka Univ., Japan (Chang-Jun Lin)
Abstract	This paper discusses about the generation and optimality of the trajectory described by B-spline. In the trajectory generation values of B-spline control points are optimized by the complex method. The algorithm has following advantages: 1) it only needs computation of a performance index for the optimization but requires no computation of the gradient; 2) it is applicable to the problem of an arbitrary performance index to evaluate trajectories; 3) it can generate trajectories with continuous time derivative curves; and 4) it needs less memory to store the generated trajectories. For checking the optimality of the trajectories, it is applied to four types of trajectory generation: a manipulator trajectory generation, a solution of ordinary differential equation, a minimal time control problem, and a movement curve generation such as a cam curve one.
Sponsorship	IEEE Robotics & Autom. Soc.
Starting Page	92
Ending Page	97
File Size	522304
Page Count	6
File Format	PDF
ISBN	078037004X
DOI	10.1109/ISATP.2001.928972
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2001-05-29
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Spline Optimization methods Performance analysis Mechanical engineering Manipulator dynamics Differential equations Optimal control Boundary conditions Artificial intelligence
Content Type	Text
Resource Type	Article

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