{"ID":2851142,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2510.20473","arxiv_id":"2510.20473","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.","short_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 defi...","url_abs":"https://arxiv.org/abs/2510.20473","url_pdf":"https://arxiv.org/pdf/2510.20473v1","authors":"[\"Bernhard Rameder\",\"Hubert Gattringer\",\"Andreas Mueller\",\"Ronald Naderer\"]","published":"2025-10-23T12:13:50Z","proceeding":"cs.RO","tasks":"[\"cs.RO\"]","methods":"[]","has_code":false}