Approximating Cartesian free-form curve path in SCARA robot joint space using clothoid curves

• Main Author: Moreno, Mary Anne E.
• Format: text
• Language: English
• Published: Animo Repository 2003
• Subjects: Path analysis; Approximation theory; Interpolation; Curves; Computer simulation; Robots > Programming
• Online Access: https://animorepository.dlsu.edu.ph/etd_masteral/3047
• Institution: De La Salle University

A method for approximating Cartesian free-form curve path in SCARA robot joint space using clothoid curves is presented. Path Approximation is done by taking sample points on the curve path in Cartersian space and converting these to their corresponding joint coordinates by applying inverse kinemati...