Joint space trajectories for robotic manipulators Online publication date: Tue, 10-Jun-2014
by Tuna Balkan
International Journal of Computer Applications in Technology (IJCAT), Vol. 4, No. 3, 1991
Abstract: In this study, the generation of joint space trajectories for robotic manipulators using different curve-fitting procedures is discussed. The path data used for this purpose is obtained from the previously introduced trajectory generation technique in which a practical trajectory planning procedure for industrial manipulators is included. Results are given for a PUMA manipulator following a circular path in space. Joint variable positions, velocities and accelerations are plotted for the first three joints of the PUMA manipulator.
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