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Development of smooth, asynchronous optimal trajectories for robotic manipulators performing assembly tasks

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Srinivasulu Vardhineni, Murali Krishna Chimata, Ravikumar Mandava
Journal: Industrial Robot: the international journal of robotics research and application
Industrial Robot (2026) 53 (1): 114–129.
https://doi.org/10.1108/IR-04-2025-0138
Published: 30 June 2025
... is the total number of control points. The knot vector V contains m + 1 knot values vi. The basis functions are computed using the Carl de Boor recursion formula (De Boor, 1972), given by: B-spline Interior-point approach Kinematic constraints Multipoint motion...
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