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Modelling robot manipulators with multivariate B-splines

Johnson, Colin G., Marsh, Duncan (1999) Modelling robot manipulators with multivariate B-splines. Robotica, 17 (3). pp. 239-247. ISSN 0263-5747. (doi:10.1017/S0263574799001307) (KAR id:21825)

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Official URL
http://dx.doi.org/10.1017/S0263574799001307

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
DOI/Identification number: 10.1017/S0263574799001307
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: Divisions > Division of Computing, Engineering and Mathematical Sciences > School of Computing
Depositing User: Mark Wheadon
Date Deposited: 12 Oct 2009 16:41 UTC
Last Modified: 16 Feb 2021 12:32 UTC
Resource URI: https://kar.kent.ac.uk/id/eprint/21825 (The current URI for this page, for reference purposes)
Johnson, Colin G.: https://orcid.org/0000-0002-9236-6581
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