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Robotics pp 67-75 | Cite as

Trajectory planning

  • Tadej Bajd
  • Matjaž Mihelj
  • Jadran Lenarčič
  • Aleš Stanovnik
  • Marko Munih
Chapter
Part of the Intelligent Systems, Control and Automation: Science and Engineering book series (ISCA, volume 43)

Abstract

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.

Keywords

Linear Segment Trajectory Planning Joint Variable Robot Task Robot Kinematic 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer Science+Business Media B.V. 2010

Authors and Affiliations

  • Tadej Bajd
    • 1
  • Matjaž Mihelj
    • 1
  • Jadran Lenarčič
    • 2
  • Aleš Stanovnik
    • 1
  • Marko Munih
    • 1
  1. 1.Fac. Electrical EngineeringUniversity of LjubljanaLjubljanaSlovenia
  2. 2.Inst. J. StefanUniversity of LjubljanaLjubljanaSlovenia

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