Abstract
The execution of a task by a robot generally requires many movements of its end effector. The set of situations corresponding to these moves defines the geometrical trajectories of the operations space and, by the intermediary of coordinates transformation, the trajectories in the joint variables space. A trajectory is, therefore, defined by the application and the geometrical constraints of the robot and its environment. A distinction is generally made between point-to-point trajectories and continuous path trajectories, depending on the number of geometrical constraints applied to the trajectory. Motion results from a particular parametric description of the trajectory where the parameter is time. It is also clear that in addition to the geometrical criteria and constraints, robot motion must respect the performance criteria and constraints relating to its application (eg velocity of motion of a tool), and its own limitations of velocity and acceleration.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Disclaimer: 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.