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The purpose of this work was to implement the kinematic control of the CXN-I robot so it follows a straight line trajectory, controlling both acceleration and speed along it. A linear segment with parabolic transitions interpolator is applied to the line defined by the requested points. This curve is sampled and the joints coordinates obtained through the inverse kinematic equations are then connected using a cubic polynomial interpolator. The references for the control system obtained from these curves are entered into a computer model of the robot, obtaining the cartesian coordinates of the real and ideal trajectory. Based on the results, it is concluded that the implementation of the proposed control was successfully achieved and that this method could be extended to other types of trajectories and robots.

Implementación en el Robot Antropomorfo CXN-I del Control Cinemático de Trayectorias Rectilíneas