Generalized algorithm for computing the 4‐3‐4 <i>N</i>‐axis robotic trajectory

摘要

Abstract A generalized inversion technique and algorithm is presented for the purpose of computing the 9 n coefficients pertaining to the three segments—i.e., liftoff, transitory, and setdown—of a motion trajectory of an n ‐axis robot manipulator. The technique and the computer program presented is general enough to be immediately applicable to an n ‐axis robot manipulator if only the desired initial and final position, velocity, acceleration, as well as the intermediate “via” positions are given. A number of examples are presented for a wide spectrum of these constraint conditions on the desired motion trajectories.