In previous chapters we studied mathematical models of robot mechanisms. First of all we were interested in robot kinematics and dynamics. Before applying this knowledge to robot control, we must become familiar with the planning of robot motion. The aim of trajectory planning is to generate the reference inputs to the robot control system, which will ensure that the robot end-effector will follow the desired trajectory.
Robot motion is usually defined in the rectangular world coordinate frame placed in the robot workspace most conveniently for the robot task. In the simplest task we only define the initial and the final point of the robot end-effector. The inverse kinematic model is then used to calculate the joint variables corresponding to the desired position of the robot end-effector.
KeywordsLinear Segment Trajectory Planning Joint Variable Robot Task Robot Kinematic
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