Smooth trajectory generation and hybrid B-splines-quaternions based tool path interpolation for a 3T1R parallel kinematic milling robot

This paper presents a smooth trajectory generation method for a four-degree-of-freedom parallel kinematic milling robot. The proposed approach integrates B-spline and Quaternion interpolation techniques to manage decoupled position and orientation data points. The synchronization of orientation and...

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Bibliographic Details

Published in:	Precision engineering Vol. 95; pp. 117 - 135
Main Authors:	Akhbari, Sina, Mahboubkhah, Mehran
Format:	Journal Article
Language:	English
Published:	Elsevier Inc 01.08.2025
Subjects:	B-Spline unit quaternions Minimum jerk optimization Parallel kinematic robots Piece-wise beziers Smooth trajectory generation Tool path interpolation Minimum jerk optimization B-Spline unit quaternions Parallel kinematic robots Tool path interpolation Piece-wise beziers Smooth trajectory generation
ISSN:	0141-6359
Online Access:	Get full text
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