On the Generation of Complex Trajectories Using a Robotic System with Six Degrees of Freedom

Dorin Bădoiu; Marius Petrescu; Georgeta Toma; Johannes Cornelis Helthuis

doi:10.4028/www.scientific.net/AMM.657.803

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vol. 657On the Generation of Complex Trajectories Using a...

On the Generation of Complex Trajectories Using a Robotic System with Six Degrees of Freedom

Abstract:

In this paper a method that allows the generation of complex trajectories using a RRTRRR robotic system (with five rotation modules and a translation module) is presented. The method is based on the decoupling between the positioning function and the orientation function of the tool frame (O_Tx_Ty_Tz_T) attached to the robot gripper. The method permits to determine all the solutions corresponding to the robot coordinates that allow obtaining the movement of the tool frame with imposed position and orientation parameters. Finally, some simulation results are presented in the case when O_T is moving along a parabolic trajectory with an imposed orientation of the tool frame.

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Periodical:

Applied Mechanics and Materials (Volume 657)

Pages:

803-807

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.657.803

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Online since:

October 2014

Authors:

Dorin Bădoiu, Marius Petrescu, Georgeta Toma, Johannes Cornelis Helthuis

Keywords:

Complex Trajectories, Orientation, Position, Robotic Systems, Tool Frame

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References

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