Smooth trajectory generation for rotating extensible manipulators.

Dupac, M., 2016. Smooth trajectory generation for rotating extensible manipulators. Mathematical Methods in the Applied Sciences. (In Press)

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DOI: 10.1002/mma.4210

Abstract

In this study the generation of smooth trajectories of the end-effector of a rotating extensible manipulator arm is considered. Possible trajectories are modelled using Cartesian and polar piecewise cubic interpolants expressed as polynomial Hermite-type functions. The use of polar piecewise cubic interpolants devises continuous first and - in some cases - second order derivatives and allows easy calculation of kinematics variables such as velocity and acceleration. Moreover, the manipulator equations of motion can be easily handled, and the constrained trajectory of the non-active end of the manipulator derived directly from the position of the end-effector. To verify the proposed approach, numerical simulations are conducted for two different configurations.

Item Type:Article
ISSN:1099-1476
Uncontrolled Keywords:Mathematical modelling; smooth trajectories; manipulator; robotic arm
Subjects:UNSPECIFIED
Group:Faculty of Science & Technology
ID Code:24787
Deposited By: Unnamed user with email symplectic@symplectic
Deposited On:28 Sep 2016 14:54
Last Modified:22 Nov 2016 10:55

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