{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2022,3,31]],"date-time":"2022-03-31T18:28:36Z","timestamp":1648751316778},"reference-count":0,"publisher":"Cambridge University Press (CUP)","issue":"3","license":[{"start":{"date-parts":[[1997,5,1]],"date-time":"1997-05-01T00:00:00Z","timestamp":862444800000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[1997,5]]},"abstract":"<jats:p>New methods have been developed to control a mechanism's realtime\nCartesian motion along spatially complex curves such as Non-Uniform Rational\nB-splines (NURBS). The methods dynamically map the critical trajectory\nparameters between parameter space, Cartesian space, and joint space. Trajectory\nmodels that relate Cartesian tool speeds and accelerations to joint speeds and\naccelerations have been generalized so that they can be applied to most classes\nof robots and CNC mechanisms.<\/jats:p><jats:p> A simple and efficient predictor-corrector\nmethod uses finite difference theory to predict the parametric changes required\nto generate the desired curvilinear distances along the trajectory, and then\ncorrect the erorrs arising from this prediction. Polynomial approximation\nmethods successfully approximate joint speeds and accelerations rather than\nrequire a closed-form inverse Jacobian solution.<\/jats:p><jats:p> The numerical\nalgorithms prove to be time bounded (fixed number of computational steps), and\nthe generated trajectories are smooth and continuous. Both simulation and\nphysical experiments using an Open-Architecture Controller demonstrate the\nfeasibility and usefulness of the developed trajectory generation algorithms and\nmethods. The methods can be conducted at trajectory rates greater than 100 Hz,\ndepending on mechanism complexity.<\/jats:p>","DOI":"10.1017\/s0263574797000301","type":"journal-article","created":{"date-parts":[[2002,7,27]],"date-time":"2002-07-27T09:36:08Z","timestamp":1027762568000},"page":"263-274","source":"Crossref","is-referenced-by-count":9,"title":["On-line Cartesian trajectory control of mechanisms along\ncomplex curves"],"prefix":"10.1017","volume":"15","author":[{"given":"Zhaoxue","family":"Yang","sequence":"first","affiliation":[]},{"given":"Edward","family":"Red","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[1997,5,1]]},"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574797000301","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,5,11]],"date-time":"2019-05-11T16:58:30Z","timestamp":1557593910000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574797000301\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1997,5]]},"references-count":0,"journal-issue":{"issue":"3","published-print":{"date-parts":[[1997,5]]}},"alternative-id":["S0263574797000301"],"URL":"https:\/\/doi.org\/10.1017\/s0263574797000301","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[1997,5]]}}}