AN EFFECTIVE TRAJECTORY PLANNING METHOD FOR SPATIAL ARC MOTION OF MANIPULATOR

WU Zhenwei, TAN Dalong. AN EFFECTIVE TRAJECTORY PLANNING METHOD FOR SPATIAL ARC MOTION OF MANIPULATORJ. ROBOT, 1999, 21(1): 8-11,45.

Citation:

WU Zhenwei, TAN Dalong. AN EFFECTIVE TRAJECTORY PLANNING METHOD FOR SPATIAL ARC MOTION OF MANIPULATORJ. ROBOT, 1999, 21(1): 8-11,45.

Citation:

WU Zhenwei, TAN Dalong. AN EFFECTIVE TRAJECTORY PLANNING METHOD FOR SPATIAL ARC MOTION OF MANIPULATORJ. ROBOT, 1999, 21(1): 8-11,45.

Abstract

This paper presents an effective trajectory planning method for spatial arc motion of manipulator through three points in space.We have successfully applied this method to the robot controller developed by us for electronical assembly.Results of theoretical analysis are in good agreement with experimental results.

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