Trajectory Planning and Speed Control for a Two-Link Rigid Manipulator

[+] Author and Article Information
Reza Fotouhi-C.

University of Saskatchewan, Saskatoon, Saskatchewan S7N 5A9, Canada

Walerian Szyszkowski

Mechanical Engineering Dept. University of Saskatchewan, Saskatoon, Saskatchewan S7N 5A9, Canada

Peter N. Nikiforuk

College of Engineering, University of Saskatchewan, Saskatoon, Saskatchewan S7N 5A9, Canada

J. Mech. Des 124(3), 585-589 (Aug 06, 2002) (5 pages) doi:10.1115/1.1481362 History: Received March 01, 1999; Online August 06, 2002
Copyright © 2002 by ASME
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Grahic Jump Location
Physical parameters used in formulation of two-link rigid manipulators
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Initial, zbdin, and desired, zbd, trajectories
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Linear velocity of tip of the manipulator for the desired path, vb, in different iterations
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Error norm ‖E‖ as a function of iteration for different number of knots
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Rotations of the links for the desired and initial paths
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Angular velocity of the shoulder link for the desired, φ̇1d, and initial, φ̇1din, paths
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Angular velocity of the elbow link for the desired, φ̇2d, and initial, φ̇2din, paths
Grahic Jump Location
Linear velocities of tip of the manipulator for the desired, vb, specified, vbs, and initial, vbin, paths
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Second norm ‖λ‖ as a function of iteration for N=61
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Minimum of error norm ‖E‖ as a function of number of knots




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