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Modelling robot manipulators with multivariate B-splines
Colin G. Johnson and Duncan Marsh
Robotica, 17(3):182-196, May 1999.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.
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@article{825,
author = {Colin G. Johnson and Duncan Marsh},
title = {Modelling robot manipulators with multivariate {B}-splines},
month = {May},
year = {1999},
pages = {182-196},
keywords = {determinacy analysis, Craig interpolants},
note = {},
doi = {},
url = {http://www.cs.kent.ac.uk/pubs/1999/825},
ISSN = {0263-5747},
journal = {Robotica},
number = {3},
publisher = {Cambridge University Press},
volume = {17},
}