A Novel Computing Method of Spatial Arc Trajectories of Manipulator

Pei Chang Ye; Qing Xuan Jia; Gang Chen; Han Xu Sun

doi:10.4028/www.scientific.net/AMM.602-605.1425

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 602-605A Novel Computing Method of Spatial Arc...

A Novel Computing Method of Spatial Arc Trajectories of Manipulator

Abstract:

This paper presents a novel computing method of spatial arc to solve the problem of large amount of calculation in the traditional spatial arc trajectories plan. First, position planning of spatial arc is computed based on three given points in Cartesian space. Second, axis-angle relationships method is used for the orientation planning. Finally, simulation on a 7-DOF manipulator clearly demonstrates the effectiveness of the proposed method.

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Periodical:

Applied Mechanics and Materials (Volumes 602-605)

Pages:

1425-1429

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.602-605.1425

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Online since:

August 2014

Authors:

Pei Chang Ye*, Qing Xuan Jia, Gang Chen, Han Xu Sun

Keywords:

Axis-Angle Relationships, Manipulator, Spatial Arc Trajectorie

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* - Corresponding Author

References

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