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NURBs for Robot Manipulator Trajectory Generation

[+] Author Affiliations
John Steuben, John Steele, Cameron J. Turner

Colorado School of Mines, Golden, CO

Paper No. DETC2011-47477, pp. 1121-1130; 10 pages
  • ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 6: 35th Mechanisms and Robotics Conference, Parts A and B
  • Washington, DC, USA, August 28–31, 2011
  • Conference Sponsors: Design Engineering Division and Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5483-9
  • Copyright © 2011 by ASME


Modern applications of automation and robotic technologies require increasingly sophisticated control systems. One of the areas in which the control of these robotic systems can be improved is the generation of motion trajectories. We demonstrate that Non-Uniform Rational B-splines (NURBs) can be successfully adapted for use in producing trajectories for 6-DOF manipulators. We also discuss a methodology for fitting such splines to arbitrary geometries allowing for the generation of paths in cases where it is difficult or impossible to do so using less sophisticated methods. We demonstrate these techniques in simulation, where they are applied to a pair of complex industrial tasks. Several important properties of NURBs which offer advantages not present in other methods are also discussed. We conclude by discussing the future research needed to bring this technique to maturity, and potential opportunities that may be realized in its adoption.

Copyright © 2011 by ASME



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