In improved method for generating trajectory of robotic manipulator, each straight-line segment of trajectory composed of constant-velocity main portion sandwiched between smooth acceleration at start and smooth deceleration at finish. Algorithm implementing method computes velocity in each accelerating portion as sinusoidal function of position along line. This motion chosen for two reasons: closely approximates motion of human hand along straight-line trajectory, and provides very smooth transitions between constant-velocity portion and accelerated and decelerational end portions.


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    Title :

    Generating Smooth Motions For Robotic Manipulators


    Contributors:

    Published in:

    Publication date :

    1993-05-01



    Type of media :

    Miscellaneous


    Type of material :

    No indication


    Language :

    English




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