Abstract
This paper describes the off-line robot motion planning via the computer graphics simulation system for robot manipulators (CGSROB) and its environment. The general structure and the mathematical theories of a generalized computer program developed for this purpose are proposed. Approachs based on B-splines are emploied for the robot trajectory planning here. The motion is specified by a sequence of cartesian knots, i.e. positions and orientations of the end effector of robot manipulators. For a 6-joint manipulator, these cartesian knots are transformed into six sets of joint variables, with each set corresponding to a joint. Splines, .represented as linear combinations of B-splines, are used to fit the sequence of joint variables for each of the six joints. This approach offers flexibility, computational efficiency, and compact representation and fits the jerk constraint reguired.
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