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


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
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