Trajectory generation and control for manipulator using the Bezier curve.

This paper proposes the method which effectively generates a trajectory for collision avoidance using the Bezier curve. The proposed method consists of three procedures : The first one assigns a start point, passing points and goal point. The second one describes each section between the points by the Bezier curve and combines each section smoothly. The last one calculates the distance between obstacles and each section and determines the figure of trajectory. The figure of the trajectory is changeble because of the local controllolability of Bezier curve. each section is created by an independent Bezier curve so that local change of the trajectory doesn't cause a whole change of the trajectory. For this reason, the proposed method becomes an effective algorithm as a whole. Examples of the planned trajectory for the robot are shown and validity of the obtained trajectory is discussed.