This paper presents an algorithm for rectilinear-arc trajectory planning whose path is composed of two rectilinear segments connected with a loop-shaped arc. The algorithm can be used in solutions with high speed cornering applications. During the realization of the given trajectory, the end-effector passed through the corner twice and the time difference is, simultaneously, the time of loop tracking. On the rectilinear segments, end-effector acceleration was described by a 7th degree polynomial, whereas the velocity while moving through a loop was a constant value. The results of the trajectory planning are presented as courses of displacements, speeds and accelerations of the end-effector and displacements, speeds and accelerations in kinematic pairs of the three manipulators

Rights

URN

URN:NBN:SI:DOC-HNKV8WVP

COBISSID

13819419

Added

08.05.2017

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Citation

APA:

Boryga, Marek (2014). Trajectory planning of an end-effector for path with loop. Strojniški vestnik, volume 60, issue 12, str. 804-814, SI 149. URN:NBN:SI:DOC-HNKV8WVP from http://www.dlib.si

MLA:

Boryga, Marek. "Trajectory planning of an end-effector for path with loop." Strojniški vestnik volume 60. issue 12 (2014) str. 804-814, SI 149.
<http://www.dlib.si/?URN=URN:NBN:SI:DOC-HNKV8WVP>

Strojniški vestnik
1955-
(Assembly record)