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| Main Authors: | , , , |
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| Format: | Preprint |
| Published: |
2025
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2510.20473 |
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| _version_ | 1866914109143908352 |
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| author | Rameder, Bernhard Gattringer, Hubert Mueller, Andreas Naderer, Ronald |
| author_facet | Rameder, Bernhard Gattringer, Hubert Mueller, Andreas Naderer, Ronald |
| contents | This paper presents a method for planning a trajectory in workspace coordinates using a spatially fixed tool center point (TCP), while taking into account the processing path on a part. This approach is beneficial if it is easier to move the part rather than moving the tool. Whether a mathematical description that defines the shape to be processed or single points from a design program are used, the robot path is finally represented using B-splines. The use of splines enables the path to be continuous with a desired degree, which finally leads to a smooth robot trajectory. While calculating the robot trajectory through prescribed orientation, additionally a given velocity at the TCP has to be considered. The procedure was validated on a real system using an industrial robot moving an arbitrary defined part. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2510_20473 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Robot Path and Trajectory Planning Considering a Spatially Fixed TCP Rameder, Bernhard Gattringer, Hubert Mueller, Andreas Naderer, Ronald Robotics This paper presents a method for planning a trajectory in workspace coordinates using a spatially fixed tool center point (TCP), while taking into account the processing path on a part. This approach is beneficial if it is easier to move the part rather than moving the tool. Whether a mathematical description that defines the shape to be processed or single points from a design program are used, the robot path is finally represented using B-splines. The use of splines enables the path to be continuous with a desired degree, which finally leads to a smooth robot trajectory. While calculating the robot trajectory through prescribed orientation, additionally a given velocity at the TCP has to be considered. The procedure was validated on a real system using an industrial robot moving an arbitrary defined part. |
| title | Robot Path and Trajectory Planning Considering a Spatially Fixed TCP |
| topic | Robotics |
| url | https://arxiv.org/abs/2510.20473 |