Robot Path and Trajectory Planning Considering a Spatially Fixed TCP
Abstract
This paper presents a method for planning a trajectory in workspace coordinates using a spatially fixed tool center point (TCP), while taking into account the processing path on a part. This approach is beneficial if it is easier to move the part rather than moving the tool. Whether a mathematical description that defines the shape to be processed or single points from a design program are used, the robot path is finally represented using B-splines. The use of splines enables the path to be continuous with a desired degree, which finally leads to a smooth robot trajectory. While calculating the robot trajectory through prescribed orientation, additionally a given velocity at the TCP has to be considered. The procedure was validated on a real system using an industrial robot moving an arbitrary defined part.
Keywords
Cite
@article{arxiv.2510.20473,
title = {Robot Path and Trajectory Planning Considering a Spatially Fixed TCP},
author = {Bernhard Rameder and Hubert Gattringer and Andreas Mueller and Ronald Naderer},
journal= {arXiv preprint arXiv:2510.20473},
year = {2025}
}