Open AccessUnstressed combined trajectory of robot
Author(s) -
B. О. Bostanov
Publication year - 2020
Publication title -
vestnik nacionalʹnoj inženernoj akademii respubliki kazahstan
Language(s) - English
Resource type - Journals
eISSN - 2709-4707
pISSN - 2709-4693
DOI - 10.47533/2020.1606-146x.29
Subject(s) - trajectory , smoothness , kinematics , curvature , robot , position (finance) , connection (principal bundle) , jump , computer science , control theory (sociology) , mathematics , artificial intelligence , geometry , mathematical analysis , classical mechanics , physics , control (management) , finance , quantum mechanics , astronomy , economics
The problem of forming a smooth combined trajectory of the robot and determining the position of the connection points, providing kinematic and dynamic smoothness conditions, is considered. Mathematical relations are obtained that express the conditions for connecting arcs of a trajectory without a jump in the radii of curvature at the joints. The proposed method provides the formation of complex technical forms and creates on their basis new models of the combined trajectory of a robot of continuous curvature.