Abstract
This paper proposed a novel trajectory planning algorithm for robot manipulator using Non-Uniform Rational B-Spline (NURBS) curve interpolation. Total trajectory planning process was divided into two stages: curve fitting stage (using NURBS) and trajectory interpolating stage. Velocity adaptive control methodology was introduced to adjust the steps of robot manipulator interpolation and further to reduce the chord error. Chord error and interpolation velocity of robot end-effector were monitored real-time and the consecutive interpolation point was pre-calculated to make a judgement on whether the chord error meet requirements, otherwise the interpolation velocity would be lowered to guarantee the accuracy was controlled under the error range. Finally, the author employed 4-DOF (Degree of Freedom) free floating space robot to verify the availability of the designed algorithm depending on several given demonstrating waypoints. The experimental result showed that the proposed NURBS trajectory planning algorithm was not only feasible for high-accuracy trajectory planning but also yielded a smooth trajectory with satisfactory kinematic properties for all robot joints.
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