Johnson, Colin G. and Marsh, Duncan (1999) Modelling robot manipulators with multivariate B-splines. Robotica, 17 (3). pp. 239-247. ISSN 0263-5747.
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| Official URL http://dx.doi.org/10.1017/S0263574799001307 |
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Abstract
Modelling robot manipulators using multivariate B-splines Colin G. Johnson and Duncan Marsh In programming robot manipulators to carry out a wide variety of tasks it would be desirable to create a cad system in which these tasks can be programmed at the task level, leaving the fine-grained detail of path planning and collision detection to the system. This paper describes the theoretical background to such a system, by providing a model in which robot motions are represented using multivariate B-splines, a standard representation for free-form shapes in the cad environment. The paper also describes algorithms which take this representation and apply it to collision detection and path-planning.
| Item Type: | Article |
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| Uncontrolled keywords: | B-splines, mathematical modelling of robots, CAD systesm, collision detection, path planning |
| Subjects: | Q Science > QA Mathematics (inc Computing science) > QA 76 Software, computer programming, |
| Divisions: | Faculties > Science Technology and Medical Studies > School of Computing > Applied and Interdisciplinary Informatics Group |
| Depositing User: | Mark Wheadon |
| Date Deposited: | 12 Oct 2009 16:41 |
| Last Modified: | 06 Sep 2011 04:05 |
| Resource URI: | http://kar.kent.ac.uk/id/eprint/21825 (The current URI for this page, for reference purposes) |
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