Abstract
Based on direct kinematics, formulas for the joint position, velocity, and acceleration of a 6-dof manipulator are represented. For a manipulator without central wrist the evaluation of these formulas will be shown. To apply these results it is necessary to describe the spatial trajectory exactly with respect to position, velocity, and acceleration of the end-effector. For a spline motion of the gripper the results of an optimized velocity profile will be shown. The advantages of an analytical solution for the feedforward can be seen in an experimental comparison in which the usual proceeding and the proposed one are realized.
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