Abstract
In this paper a combined polar-Cartesian approach to generate a smooth trajectory of a robotic arm along priori defined via-points is presented. Due to the characteristics/- geometry of the robotic arm, cylindrical coordinates are associated with the trajectory of motion. Possible trajectories representing the system dynamics are generated by mix matching higher order polar piecewise polynomials used to devise the radial trajectory and Cartesian piecewise polynomials used to calculate the related height in a normal plane unfolded along the radial trajectory of the motion. To describe the kinematic properties of the end-effector a moving non-inertial orthonormal Frenet frame is considered. Using the Frenet frame, the components of the velocity and acceleration along the frame unit vectors are calculated. Numerical simulations are performed for two different configurations in order to validate the approach.
Highlights
SummaryIn this paper a combined polar-Cartesian approach to generate a smooth trajectory of a robotic arm along priori defined via-points is presented
Trajectory planning of robotic manipulators is considered a fundamental factor in industry and automation with important consequences in improving production life cycle and minimizing costs 1
In 11 the movements of a human arm are considered and analysed in order to describe the kinematic of an upper arm exoskeleton rehabilitation robot with two actuators
Summary
In this paper a combined polar-Cartesian approach to generate a smooth trajectory of a robotic arm along priori defined via-points is presented. Due to the characteristics/geometry of the robotic arm, cylindrical coordinates are associated with the trajectory of motion. Possible trajectories representing the system dynamics are generated by mix matching higher order polar piecewise polynomials used to devise the radial trajectory and Cartesian piecewise polynomials used to calculate the related height in a normal plane unfolded along the radial trajectory of the motion. To describe the kinematic properties of the end-effector a moving non-inertial orthonormal Frenet frame is considered. Using the Frenet frame, the components of the velocity and acceleration along the frame unit vectors are calculated. Numerical simulations are performed for two different configurations in order to validate the approach
Sign-in/Register to view highlights & summary Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
