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Smooth trajectory generation for rotating extensible manipulators
Author(s) -
Dupac Mihai
Publication year - 2018
Publication title -
mathematical methods in the applied sciences
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.719
H-Index - 65
eISSN - 1099-1476
pISSN - 0170-4214
DOI - 10.1002/mma.4210
Subject(s) - piecewise , mathematics , trajectory , cartesian coordinate system , acceleration , kinematics , position (finance) , control theory (sociology) , robot end effector , polynomial , hermite polynomials , cubic function , piecewise linear function , polar coordinate system , mathematical analysis , computer science , robot , geometry , classical mechanics , physics , artificial intelligence , control (management) , finance , astronomy , economics
In this study, the generation of smooth trajectories of the end effector of a rotating extensible manipulator arm is considered. Possible trajectories are modelled using Cartesian and polar piecewise cubic interpolants expressed as polynomial Hermite‐type functions. The use of polar piecewise cubic interpolants devises continuous first‐order and – in some cases – second‐order derivatives and allows easy calculation of kinematics variables such as velocity and acceleration. Moreover, the manipulator equations of motion can be easily handled, and the constrained trajectory of the non‐active end of the manipulator derived directly from the position of the end‐effector. To verify the proposed approach, numerical simulations are conducted for two different configurations. Copyright © 2016 John Wiley & Sons, Ltd.