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This paper presents in detail an efficient look-ahead interpolator for on-line trajectory generation in the Cartesian space. Although developed for advanced robotics laser welding using seam-tracking, the approach is suitable where sensory driven motion of manipulators is needed, or where trajectories are defined by a large amount of points with specific kinematics profiles. The proposed method and techniques have the advantage of avoiding trajectory preparation delays, smoothly interpolating small packets of points at run-time through efficient spline curves. Hence, the knowledge a priori of the whole trajectory before starting motion is not necessary. Moreover, the method permits the generation of precise user-defined kinematics profiles, and the changing of speed set-point at run-time.

Additional information

Authors: CRUDO E, Politecnico di Milano (IT);PORRO R, Politecnico di Milano (IT);RUIZ MORALES E, European Commission, Joint Research Centre, Institute for Systems, Informatics and Safety, Ispra (IT)
Bibliographic Reference: Paper presented: Intelligent Autonomous Systems, Venezia (IT) 25-27 July 2000
Availability: Available from European Commission, Joint Research Centre, Ispra (IT)
Record Number: 200012272 / Last updated on: 2000-08-10
Original language: en
Available languages: en
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