Abstract
This paper develops an algorithm for constructing C 3 continuous rational quartic B-spline curves such that each rational Bézier curve segment corresponds to a two-harmonic trajectory pattern. Such smooth low-harmonic spline curves can be used for synthesizing robot joint trajectories that are least susceptible to vibrational excitation.
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© 1995 Springer Science+Business Media Dordrecht
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Ge, Q.J., Rastegar, J. (1995). A Special Class of C 3 Rational Quartic Spline Curves for Two-Harmonic Trajectory Synthesis. In: Merlet, JP., Ravani, B. (eds) Computational Kinematics ’95. Solid Mechanics and Its Applications, vol 40. Springer, Dordrecht. https://doi.org/10.1007/978-94-011-0333-6_29
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DOI: https://doi.org/10.1007/978-94-011-0333-6_29
Publisher Name: Springer, Dordrecht
Print ISBN: 978-94-010-4147-8
Online ISBN: 978-94-011-0333-6
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