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A Splines–Based Control Method for Robot Manipulators

Published online by Cambridge University Press:  09 March 2009

A. Kanarachos ,
M. Sfantsikopoulos  and
P. Vionis
A. Kanarachos
Affiliation:
National TechnicalUniversity of Athens, Mechanical Design and Control Systems Section, Patission Str. 42, GR–10682 Athens (Greece)
M. Sfantsikopoulos
Affiliation:
National TechnicalUniversity of Athens, Mechanical Design and Control Systems Section, Patission Str. 42, GR–10682 Athens (Greece)
P. Vionis
Affiliation:
National TechnicalUniversity of Athens, Mechanical Design and Control Systems Section, Patission Str. 42, GR–10682 Athens (Greece)
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Summary

In this paper, a new splines–based control method for robot manipulators is presented and discussed. The above method can be effectively used for path planning and control of rigid and flexible robots. The computational simplicity of the proposed algorithm, together with its flexibility and its high–level intelligence built in, can be considered as promising tools for achieving the goals of modem robot manipulator design.

Keywords

ControlSplinesRobotsPath planningFlexibility
Type
Article
Information
Robotica , Volume 7 , Issue 3 , July 1989 , pp. 213 - 221
Copyright
Copyright © Cambridge University Press 1989

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References

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