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Kinematic path control of robot arms

Published online by Cambridge University Press:  09 March 2009

Evgeny Krustev  and
Ljubomir Lilov
Evgeny Krustev
Affiliation:
Institute of Mechanics and Biomechanics ul. “Acad. Bonchv”, bl. 8, 1113 Sofa (Bulgaria)
Ljubomir Lilov
Affiliation:
Institute of Mechanics and Biomechanics ul. “Acad. Bonchv”, bl. 8, 1113 Sofa (Bulgaria)
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Summary

Path planning of the end effector motion is here treated from the viewpoint of the path invariance under the transformations of its parametrical representation. Thus, a new method for path planning of the robot arm motion is being developed. Both the problems of finding the end effector time optimal motion and the end effector motion with a prescribed velocity profile along a preplanned path are being solved by the employment of this method. Simulation results are presented and some aspects of implementation are also discussed.

Type
Article
Information
Robotica , Volume 4 , Issue 2 , April 1986 , pp. 107 - 116
Copyright
Copyright © Cambridge University Press 1986

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