| Issue |
ITM Web Conf.
Volume 21, 2018
Computing in Science and Technology (CST 2018)
|
|
|---|---|---|
| Article Number | 00009 | |
| Number of page(s) | 7 | |
| DOI | https://doi.org/10.1051/itmconf/20182100009 | |
| Published online | 12 October 2018 | |
Mapping Accuracy of Trajectories of Manipulator Motion
1
University of Life Sciences in Lublin, ul. Głęboka 28, 20-612 Lublin, Poland
2
ARKONA, Nasutów 99C, 21-025 Niemce, Poland
* Corresponding author: pawel.kolodziej@up.lublin.pl
The paper presents the algorithm for trajectory planning and the analysis of motion accuracy of an anthropomorphic manipulator whose the end-effector moves over the rectilinear-arc path. The path consists of two rectilinear segments of intersecting directions coupled with the arc of a fixed radius. On these rectilinear segments, the end-effector acceleration is described by a polynomial of 7th-degree. The motion over the arc proceeds at a constant velocity. The dynamic analysis was carried out on the basis of Lagrange’s equations of the second order. Manipulator flexibility and damping were considered according to the Kelvin-Voigt model introducing spring-damping components into the drive system. The simulation test results were presented in the form of spatial courses of the pre-assigned and realized trajectories as well as time courses of trajectory end-effector mapping errors for three paths with different radii of the arc.
© The Authors, published by EDP Sciences, 2018
This is an open access article distributed under the terms of the Creative Commons Attribution License 4.0 (http://creativecommons.org/licenses/by/4.0), which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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