Abstract
This paper describes a method which contributes to the solution of robot motion planning problem. Particularly, an approach to trajectory planning problem for manipulator arm with stepper motors is developed. The approach relies on fast incremental quadratic interpolation algorithm which is then used to control the stepper motors along a second order spline approximation of the planned path. To solve an ill-posed inverse kinematic problem we propose to use Tikhonov regularization method.
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