The computation algorithm of knot point planning for Cartesian trajectory generation of manipulator is investigated. A novel inheritance bisection algorithm (IBA) based on conventional bisection algorithm (BA) is proposed. IBA has two steps. The first step is the 1st knot point planning under lower set position accuracy; the second step is the 2nd knot point planning that inherits the results of the 1st planning under higher set position accuracy. The simulation results reveal that the number of inverse kinematical calculation (IKC) caused by IBA is decreased compared with BA. IBA is more efficient to plan knot points.
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