Embedded System Generating Trajectories of a Robot Manipulator of Five Degrees of Freedom (D.O.F)

Abstract

system of the final effector in a desired orientation and position. To do this, algorithms must be used to generate and control the coordinated movements of the robot joints. This article will deal with three movements (MOVEJ, MOVES and MOVEC) implemented in the industrial controller CompactRIO, which can be combined so that the robot can develop any task that is scheduled.Keywords: MCD, MCI, CompactRIO, Slerp.