Abstract
Robotic control is one of the most important problems and is considered the central part of trajectory planning and motion control, and several methods can be found to generate the trajectory of a robotic arm. However, those methods imply a lot of calculation process and operations or other problems that cause decreasing the accuracy of the results and much compile time. For these reasons, a novel method is proposed to calculate the trajectory and get really accurate results with an insignificant compile time. Also, it is easy to implement, and it can make different velocities and acceleration shapes to obtain a smooth trajectory, opening new ways of control applications. the values for different initial and final positions using the distribution function proposed, LSPB, and cubic polynomial have been compared with a trajectory of 1 and 0.5 s. The paper ends with a critical discussion of experimental results.
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Quiñonez, Y., Zatarain, O., Lizarraga, C., Mejía, J. (2021). Proposal for a New Method to Improve the Trajectory Generation of a Robotic Arm Using a Distribution Function. In: Mejia, J., Muñoz, M., Rocha, Á., Quiñonez, Y. (eds) New Perspectives in Software Engineering. CIMPS 2020. Advances in Intelligent Systems and Computing, vol 1297. Springer, Cham. https://doi.org/10.1007/978-3-030-63329-5_15
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