Robot Path and Trajectory Planning Considering a Spatially Fixed TCP

Bernhard Rameder; Hubert Gattringer; Andreas Müller; Ronald Naderer

doi:10.1007/978-3-032-02106-9_15

Robot Path and Trajectory Planning Considering a Spatially Fixed TCP

Bernhard Rameder^*, Hubert Gattringer, Andreas Müller, Ronald Naderer

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference proceedings › peer-review

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.

Original language	English
Title of host publication	Advances in Service and Industrial Robotics
Subtitle of host publication	Proceedings of the 34th International Conference on Robotics in Alpe-Adria-Danube Region (RAAD)
Editors	Kosta Jovanovic, Aleksandar Rodic, Mirko Rakovic
Publisher	Springer Nature
Pages	130–137
Number of pages	8
ISBN (Electronic)	978-3-032-02106-9
ISBN (Print)	978-3-032-02105-2
DOIs	https://doi.org/10.1007/978-3-032-02106-9_15
Publication status	Published - Sept 2025

Publication series

Name	Mechanisms and Machine Science
Volume	190
ISSN (Print)	2211-0984
ISSN (Electronic)	2211-0992

Fields of science

203013 Mechanical engineering
202 Electrical Engineering, Electronics, Information Engineering
202035 Robotics
203022 Technical mechanics
203015 Mechatronics
202034 Control engineering
202027 Mechatronics
203027 Internal combustion engines
206002 Electro-medical engineering
206001 Biomedical engineering
207109 Pollutant emission

JKU Focus areas

Digital Transformation
Sustainable Development: Responsible Technologies and Management

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

Access to Document

10.1007/978-3-032-02106-9_15

Cite this

Rameder, B., Gattringer, H., Müller, A., & Naderer, R. (2025). Robot Path and Trajectory Planning Considering a Spatially Fixed TCP. In K. Jovanovic, A. Rodic, & M. Rakovic (Eds.), Advances in Service and Industrial Robotics: Proceedings of the 34th International Conference on Robotics in Alpe-Adria-Danube Region (RAAD) (pp. 130–137). (Mechanisms and Machine Science; Vol. 190). Springer Nature. https://doi.org/10.1007/978-3-032-02106-9_15

Rameder, Bernhard ; Gattringer, Hubert ; Müller, Andreas et al. / Robot Path and Trajectory Planning Considering a Spatially Fixed TCP. Advances in Service and Industrial Robotics: Proceedings of the 34th International Conference on Robotics in Alpe-Adria-Danube Region (RAAD). editor / Kosta Jovanovic ; Aleksandar Rodic ; Mirko Rakovic. Springer Nature, 2025. pp. 130–137 (Mechanisms and Machine Science).

@inproceedings{3df0c973a3b3479892b6b0983461bd47,

title = "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.",

author = "Bernhard Rameder and Hubert Gattringer and Andreas M{\"u}ller and Ronald Naderer",

year = "2025",

month = sep,

doi = "10.1007/978-3-032-02106-9\_15",

language = "English",

isbn = "978-3-032-02105-2",

series = "Mechanisms and Machine Science",

publisher = "Springer Nature",

pages = "130–137",

editor = "Kosta Jovanovic and Aleksandar Rodic and Mirko Rakovic",

booktitle = "Advances in Service and Industrial Robotics",

}

Rameder, B , Gattringer, H , Müller, A & Naderer, R 2025, Robot Path and Trajectory Planning Considering a Spatially Fixed TCP. in K Jovanovic, A Rodic & M Rakovic (eds), Advances in Service and Industrial Robotics: Proceedings of the 34th International Conference on Robotics in Alpe-Adria-Danube Region (RAAD). Mechanisms and Machine Science, vol. 190, Springer Nature, pp. 130–137. https://doi.org/10.1007/978-3-032-02106-9_15

Robot Path and Trajectory Planning Considering a Spatially Fixed TCP. / Rameder, Bernhard ; Gattringer, Hubert ; Müller, Andreas et al.
Advances in Service and Industrial Robotics: Proceedings of the 34th International Conference on Robotics in Alpe-Adria-Danube Region (RAAD). ed. / Kosta Jovanovic; Aleksandar Rodic; Mirko Rakovic. Springer Nature, 2025. p. 130–137 (Mechanisms and Machine Science; Vol. 190).

Research output: Chapter in Book/Report/Conference proceeding › Conference proceedings › peer-review

TY - GEN

T1 - Robot Path and Trajectory Planning Considering a Spatially Fixed TCP

AU - Rameder, Bernhard

AU - Gattringer, Hubert

AU - Müller, Andreas

AU - Naderer, Ronald

PY - 2025/9

Y1 - 2025/9

N2 - 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.

AB - 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.

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U2 - 10.1007/978-3-032-02106-9_15

DO - 10.1007/978-3-032-02106-9_15

M3 - Conference proceedings

SN - 978-3-032-02105-2

T3 - Mechanisms and Machine Science

SP - 130

EP - 137

BT - Advances in Service and Industrial Robotics

A2 - Jovanovic, Kosta

A2 - Rodic, Aleksandar

A2 - Rakovic, Mirko

PB - Springer Nature

ER -

Rameder B , Gattringer H , Müller A, Naderer R. Robot Path and Trajectory Planning Considering a Spatially Fixed TCP. In Jovanovic K, Rodic A, Rakovic M, editors, Advances in Service and Industrial Robotics: Proceedings of the 34th International Conference on Robotics in Alpe-Adria-Danube Region (RAAD). Springer Nature. 2025. p. 130–137. (Mechanisms and Machine Science). doi: 10.1007/978-3-032-02106-9_15

Robot Path and Trajectory Planning Considering a Spatially Fixed TCP

Abstract

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Fields of science

JKU Focus areas

UN SDGs

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