Abstract
A general solution based on time-variant NURBS is presented for robot position and orientation planning.Adding an extra component to the geometric NURBS, the time -variant NURBS model for motion design is set up. It preserves most properties, algorithms and tools in NURBS theory. Proper motion curve degrees are determined. Base on the motion model, an interpolation method that can consider constraints of different orders is presented. It allows the designer to assign the key point any one or more constraints such as position, velocity and acceleration, etc. The motion model and interpolation method are applicable to 1D and 2D motion design with dimensional reduction of control point matrix. A welding torch motion planning is given as an example.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
