0
TECHNICAL BRIEFS

The Application of Curvature Theory to the Trajectory Generation Problem of Robot Manipulators

[+] Author and Article Information
M. M. Stanišić, K. Lodi

Aerospace and Mechanical Engineering Department, University of Notre Dame, Notre Dame, IN 46556

G. R. Pennock

School of Mechanical Engineering, Purdue University, West Lafayette, IN 47907

J. Mech. Des 114(4), 677-680 (Dec 01, 1992) (4 pages) doi:10.1115/1.2917060 History: Received October 01, 1991; Online June 02, 2008

Abstract

This paper illustrates a new application of planar curvature theory to the geometric problem of trajectory generation by a two-link manipulator. The theory yields the instantaneous speed ratio, and the rate of change of the speed ratio, which correspond to the geometry of a desired point trajectory. Separate from the purely geometric speed ratio problem (i.e., the coordination problem) is the time based problem of controlling the joint rates in order to move with the specified path variables.

Copyright © 1992 by The American Society of Mechanical Engineers
Your Session has timed out. Please sign back in to continue.

References

Figures

Tables

Errata

Discussions

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In