Skip to main content

Smooth trajectory generation for rotating extensible manipulators.

Dupac, M., 2018. Smooth trajectory generation for rotating extensible manipulators. Mathematical Methods in the Applied Sciences, 41 (6), 2281-2286.

Full text available as:

Paper MMAS.pdf - Accepted Version
Available under License Creative Commons Attribution Non-commercial No Derivatives.


DOI: 10.1002/mma.4210


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
Additional Information:Special Issue: Recent advances in modelling in science engineering and economics
Uncontrolled Keywords:Mathematical modelling; smooth trajectories; manipulator; robotic arm
Group:Faculty of Science & Technology
ID Code:24787
Deposited By: Symplectic RT2
Deposited On:28 Sep 2016 14:54
Last Modified:14 Mar 2022 13:59


Downloads per month over past year

More statistics for this item...
Repository Staff Only -