Design of a controlled spatial curve trajectory for robot manipulators

Chi Haur Wu*, Chi Cheng Jou

*Corresponding author for this work

Research output: Contribution to journalConference articlepeer-review

4 Scopus citations


The authors present a two-phase robot trajectory planning method that decomposes trajectory planning into path-geometry planning and robot-movement-speed planning. The purpose is to provide a capability for varying the speed of robot motion without changing the geometric shape of the path itself. A modified cubic spline method is applied to plan various spatial paths for robot's trajectory. It is concluded that the approach generates a more versatile trajectory for robot manipulators and that it maintains the smoothness of robot motion along any twisted spatial path. The proposed trajectory planner is simulated for several examples that elucidate the major issues.

Original languageEnglish (US)
Pages (from-to)161-166
Number of pages6
JournalProceedings of the IEEE Conference on Decision and Control
StatePublished - Dec 1988
EventProceedings of the 27th IEEE Conference on Decision and Control - Austin, TX, USA
Duration: Dec 7 1988Dec 9 1988

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization


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