Research on the Trajectory Planning of the 4-DOF Manipulator
Based on kinematics analysis, trajectory planning of a 4-DOF manipulator is researched on in this paper. Quintic polynomials is adopted to plan trajectory. The trajectory simulation of the manipulator is realized through using SimMechanics toolbox in MATLAB . The simulation experiments show the correctness and feasibility of the kinematics equations and algorithm of the manipulator trajectory planning.
Y. J. Cui "Research on the Trajectory Planning of the 4-DOF Manipulator", Advanced Materials Research, Vols. 317-319, pp. 734-737, 2011