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Generation of Smooth Cartesian Paths Using Radial Basis Functions

Žlajpah, Leon; Petrič, Tadej

In this paper, we consider the problem of generating smooth Cartesian paths for robots passing through a sequence of waypoints. For interpolation between waypoints we propose to use radial basis functions (RBF). First, we describe RBF based on Gaussian kernel functions and how the weights are calculated. The path generation considers also boundary conditions for velocity and accelerations. Then we present how RBF parameters influence the shape of the generated path. The proposed RBF method is compared with paths generated by a spline and linear interpolation. The results demonstrate the advantages of the proposed method, which is offering a good alternative to generate smooth Cartesian paths.

 

This work was supported by EU Horizon 2020 Programme grant 820767, CoLLaboratE and by Slovenian Research Agency grant P2-0076, and IJS Director's found grant CoBoTaT.
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(c) The Editor(s) and The Author(s), under exclusive license to Springer Nature Switzerland AG 2020


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