Abstract
This paper discusses some special applications of the theory of rational b-spline motions to the computer aided design of robot trajectories. The main advantage of this approach is the data conformity to state of the art CAD systems which allows straightforward data transfer from CAM to CAD systems. In particular the paper focusses on applications in which the motion of the end effector is implicitly defined by task level considerations. Such applications include for example arc welding, spray painting and the scanning of surfaces with robot equipment.
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© 1996 Kluwer Academic Publishers
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Wagner, M.G., Ravani, B. (1996). Computer Aided Design of Robot Trajectories Using Rational Motions. In: Lenarčič, J., Parenti-Castelli, V. (eds) Recent Advances in Robot Kinematics. Springer, Dordrecht. https://doi.org/10.1007/978-94-009-1718-7_15
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DOI: https://doi.org/10.1007/978-94-009-1718-7_15
Publisher Name: Springer, Dordrecht
Print ISBN: 978-94-010-7269-4
Online ISBN: 978-94-009-1718-7
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