New Approach to Planning the Complex Movements of 6-DOF Industrial Robot Subjected to Acceleration Constraints
Grzegorz Pająk
Abstract:A method of trajectory planning with regards to joint velocity and acceleration constraints for industrial 6DOF manipulator is presented. The task of the robot is to move to specified location in the workspace passing through intermediate waypoints. The proposed algorithm can be used to plan the task of the robot by autonomous systems in smart factories eliminating human participation in the robot programing process. Opposite to similar approaches it does not assume the type of function describing the motion o… Show more
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