Title: Joint space trajectories for robotic manipulators

Authors: Tuna Balkan

Addresses: Mechanical Engineering Department, Middle East Technical University, Ankara, Turkey

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.

Keywords: computer control; industrial robots; joint variable trajectories; industrial manipulators; trajectory planning; robot trajectories; joint space trajectories; robot control.

DOI: 10.1504/IJCAT.1991.062571

International Journal of Computer Applications in Technology, 1991 Vol.4 No.3, pp.148 - 153

Published online: 10 Jun 2014 *

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