BORYGA, Marek . Trajectory Planning of End-Effector for Path with Loop. Strojniški vestnik - Journal of Mechanical Engineering, [S.l.], v. 60, n.12, p. 804-814, june 2018. ISSN 0039-2480. Available at: <https://www.sv-jme.eu/article/trajectory-planning-of-end-effector-for-path-with-loop/>. Date accessed: 20 dec. 2024. doi:http://dx.doi.org/10.5545/sv-jme.2014.1965.
Boryga, M. (2014). Trajectory Planning of End-Effector for Path with Loop. Strojniški vestnik - Journal of Mechanical Engineering, 60(12), 804-814. doi:http://dx.doi.org/10.5545/sv-jme.2014.1965
@article{sv-jmesv-jme.2014.1965,
author = {Marek Boryga},
title = {Trajectory Planning of End-Effector for Path with Loop},
journal = {Strojniški vestnik - Journal of Mechanical Engineering},
volume = {60},
number = {12},
year = {2014},
keywords = {trajectory planning; sharp corner; path with loop; polynomial acceleration profile; manipulator},
abstract = {This paper presents an algorithm for rectilinear-arc trajectory planning whose path is composed of two rectilinear segments connected with a loop-shaped arc. The algorithm can be used in solutions with high speed cornering applications. During the realization of the given trajectory, the end-effector passed through the corner twice and the time difference is, simultaneously, the time of loop tracking. On the rectilinear segments, end-effector acceleration was described by a 7th degree polynomial, whereas the velocity while moving through a loop was a constant value. The results of the trajectory planning are presented as courses of displacements, speeds and accelerations of the end-effector and displacements, speeds and accelerations in kinematic pairs of the three manipulators.},
issn = {0039-2480}, pages = {804-814}, doi = {10.5545/sv-jme.2014.1965},
url = {https://www.sv-jme.eu/article/trajectory-planning-of-end-effector-for-path-with-loop/}
}
Boryga, M. 2014 June 60. Trajectory Planning of End-Effector for Path with Loop. Strojniški vestnik - Journal of Mechanical Engineering. [Online] 60:12
%A Boryga, Marek %D 2014 %T Trajectory Planning of End-Effector for Path with Loop %B 2014 %9 trajectory planning; sharp corner; path with loop; polynomial acceleration profile; manipulator %! Trajectory Planning of End-Effector for Path with Loop %K trajectory planning; sharp corner; path with loop; polynomial acceleration profile; manipulator %X This paper presents an algorithm for rectilinear-arc trajectory planning whose path is composed of two rectilinear segments connected with a loop-shaped arc. The algorithm can be used in solutions with high speed cornering applications. During the realization of the given trajectory, the end-effector passed through the corner twice and the time difference is, simultaneously, the time of loop tracking. On the rectilinear segments, end-effector acceleration was described by a 7th degree polynomial, whereas the velocity while moving through a loop was a constant value. The results of the trajectory planning are presented as courses of displacements, speeds and accelerations of the end-effector and displacements, speeds and accelerations in kinematic pairs of the three manipulators. %U https://www.sv-jme.eu/article/trajectory-planning-of-end-effector-for-path-with-loop/ %0 Journal Article %R 10.5545/sv-jme.2014.1965 %& 804 %P 11 %J Strojniški vestnik - Journal of Mechanical Engineering %V 60 %N 12 %@ 0039-2480 %8 2018-06-28 %7 2018-06-28
Boryga, Marek. "Trajectory Planning of End-Effector for Path with Loop." Strojniški vestnik - Journal of Mechanical Engineering [Online], 60.12 (2014): 804-814. Web. 20 Dec. 2024
TY - JOUR AU - Boryga, Marek PY - 2014 TI - Trajectory Planning of End-Effector for Path with Loop JF - Strojniški vestnik - Journal of Mechanical Engineering DO - 10.5545/sv-jme.2014.1965 KW - trajectory planning; sharp corner; path with loop; polynomial acceleration profile; manipulator N2 - This paper presents an algorithm for rectilinear-arc trajectory planning whose path is composed of two rectilinear segments connected with a loop-shaped arc. The algorithm can be used in solutions with high speed cornering applications. During the realization of the given trajectory, the end-effector passed through the corner twice and the time difference is, simultaneously, the time of loop tracking. On the rectilinear segments, end-effector acceleration was described by a 7th degree polynomial, whereas the velocity while moving through a loop was a constant value. The results of the trajectory planning are presented as courses of displacements, speeds and accelerations of the end-effector and displacements, speeds and accelerations in kinematic pairs of the three manipulators. UR - https://www.sv-jme.eu/article/trajectory-planning-of-end-effector-for-path-with-loop/
@article{{sv-jme}{sv-jme.2014.1965},
author = {Boryga, M.},
title = {Trajectory Planning of End-Effector for Path with Loop},
journal = {Strojniški vestnik - Journal of Mechanical Engineering},
volume = {60},
number = {12},
year = {2014},
doi = {10.5545/sv-jme.2014.1965},
url = {https://www.sv-jme.eu/article/trajectory-planning-of-end-effector-for-path-with-loop/}
}
TY - JOUR AU - Boryga, Marek PY - 2018/06/28 TI - Trajectory Planning of End-Effector for Path with Loop JF - Strojniški vestnik - Journal of Mechanical Engineering; Vol 60, No 12 (2014): Strojniški vestnik - Journal of Mechanical Engineering DO - 10.5545/sv-jme.2014.1965 KW - trajectory planning, sharp corner, path with loop, polynomial acceleration profile, manipulator N2 - This paper presents an algorithm for rectilinear-arc trajectory planning whose path is composed of two rectilinear segments connected with a loop-shaped arc. The algorithm can be used in solutions with high speed cornering applications. During the realization of the given trajectory, the end-effector passed through the corner twice and the time difference is, simultaneously, the time of loop tracking. On the rectilinear segments, end-effector acceleration was described by a 7th degree polynomial, whereas the velocity while moving through a loop was a constant value. The results of the trajectory planning are presented as courses of displacements, speeds and accelerations of the end-effector and displacements, speeds and accelerations in kinematic pairs of the three manipulators. UR - https://www.sv-jme.eu/article/trajectory-planning-of-end-effector-for-path-with-loop/
Boryga, Marek"Trajectory Planning of End-Effector for Path with Loop" Strojniški vestnik - Journal of Mechanical Engineering [Online], Volume 60 Number 12 (28 June 2018)
Strojniški vestnik - Journal of Mechanical Engineering 60(2014)12, 804-814
© The Authors, CC-BY 4.0 Int. Change in copyright policy from 2022, Jan 1st.
This paper presents an algorithm for rectilinear-arc trajectory planning whose path is composed of two rectilinear segments connected with a loop-shaped arc. The algorithm can be used in solutions with high speed cornering applications. During the realization of the given trajectory, the end-effector passed through the corner twice and the time difference is, simultaneously, the time of loop tracking. On the rectilinear segments, end-effector acceleration was described by a 7th degree polynomial, whereas the velocity while moving through a loop was a constant value. The results of the trajectory planning are presented as courses of displacements, speeds and accelerations of the end-effector and displacements, speeds and accelerations in kinematic pairs of the three manipulators.