Planning and real-time modifications of a trajectory using spline techniques

In this paper, methods based on various spline techniques
for planning and fast modifications of a trajectory for robot
manipulators are investigated. Algebraic and trigonometric
splines, their combined use, and the use of the B-spline
technique are analyzed and compared in detail. In so doing,
we focus on the performance of sudden changes in a
predefined trajectory, e.g. obstacle avoidance in real-time
applications. Some comparative examples illustrate our
results.