Mechanical Sciences
Mechanical Sciences
Mechanical Sciences
Articles | Volume 6, issue 2
Articles | Volume 6, issue 2
https://doi.org/10.5194/ms-6-163-2015
© Author(s) 2015. This work is distributed under
the Creative Commons Attribution 3.0 License.
Special issue:
https://doi.org/10.5194/ms-6-163-2015
© Author(s) 2015. This work is distributed under
the Creative Commons Attribution 3.0 License.
Articles | Volume 6, issue 2
Research article
 | 
01 Sep 2015
Research article |  | 01 Sep 2015

B-spline parameterized optimal motion trajectories for robotic systems with guaranteed constraint satisfaction

W. Van Loock, G. Pipeleers, and J. Swevers

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Short summary
In this research the motion planning problem for systems that admit a polynomial description of the system dynamics through differential flatness is tackled by parameterizing the system's so-called flat output as a piecewise polynomial. Sufficient conditions on the spline coefficients are derived ensuring satisfaction of the operating constraints over the entire time horizon and an intuitive relaxation is proposed to tackle conservatism.
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Special issue
Modelling and control of robots