Time-Optimal Trajectory Planning for Delta Robot Based on Quintic Pythagorean-Hodograph Curves
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چکیده
منابع مشابه
Interpolation by G quintic Pythagorean-hodograph curves
In this paper, the G interpolation by Pythagorean-hodograph (PH) quintic curves in R, d ≥ 2, is considered. The obtained results turn out as a useful tool in practical applications. Independently of the dimension d, they supply a G quintic PH spline that locally interpolates two points, two tangent directions and two curvature vectors at these points. The interpolation problem considered is red...
متن کاملInterpolation by G quintic Pythagorean-hodograph curves in R
In this paper a G2 continuous geometric interpolation of Hermite data by Pythagoreanhodograph (PH) quintic curves in Rd is considered. For two sets of appropriate Hermite data (tangent directions and curvature vectors) at two distinct points a PH quintic which interpolates given data geometrically is sought. The problem reduces to solving a system of nonlinear algebraic equations involving only...
متن کاملPythagorean-hodograph cycloidal curves
In the paper, Pythagorean-hodograph cycloidal curves as an extension of PH cubics are introduced. Their properties are examined and a constructive geometric characterization is established. Further, PHC curves are applied in the Hermite interpolation, with closed form solutions been determined. The asymptotic approximation order analysis carried out indicates clearly which interpolatory curve s...
متن کاملGeneralising the planar Pythagorean-hodograph quintic spiral
Abstract Spiral segments are useful in the design of fair curves. They are important in CAD/CAM applications, the design of highway and railway routes, trajectories of mobile robots and other similar applications. The quintic Pythagorean hodograph (PH) curve discussed in this technical report is polynomial; it has the attractive properties that its arc-length is a polynomial of its parameter, a...
متن کاملOn rational Minkowski Pythagorean hodograph curves
Minkowski Pythagorean hodograph curves are polynomial curves with polynomial speed, measured with respect to Minkowski norm. Curves of this special class are particularly well suited for representing medial axis transforms of planar domains. In the present paper we generalize this polynomial class to a rational class of curves in Minkowski 3-space. We show that any rational Minkowski Pythagorea...
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ژورنال
عنوان ژورنال: IEEE Access
سال: 2018
ISSN: 2169-3536
DOI: 10.1109/access.2018.2831663