Johnson, Colin G. and Marsh, Duncan (1999) Modelling robot manipulators with multivariate B-splines. Robotica, 17 (3). pp. 239-247. ISSN 0263-5747.
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.
|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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