Real Time Computation for Robotic Arm Motion upon a Linear or Circular Trajectory

The computation method proposed in this paper, named ADNIA (Analysis Differential Numeric Interpolate Algorithms), computes waypoints Cartesian coordinates for TCP (tool centre point) of a robotic arm, for a motion on an linear or circular imposed trajectories. At every sampling period of time, cons...

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Veröffentlicht in:International journal of advanced computer science & applications 2018, Vol.9 (2)
Hauptverfasser: Marilena, Liliana, Gyorödi, Cornelia, Maria, Helga, Veronica, Simona
Format: Artikel
Sprache:eng
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Zusammenfassung:The computation method proposed in this paper, named ADNIA (Analysis Differential Numeric Interpolate Algorithms), computes waypoints Cartesian coordinates for TCP (tool centre point) of a robotic arm, for a motion on an linear or circular imposed trajectories. At every sampling period of time, considering real-time software implementation of ADNIA, the location matrix of a robotic arm is computed. This computation method works with a well-defined value of motion speed; it results a maximum computation precision (for those motions).
ISSN:2158-107X
2156-5570
DOI:10.14569/IJACSA.2018.090203