Review Paper On Trajectory Planning
Abstract & Details
Research Area
Robotics
Keywords
kinematics
dynamics
trajectory planning
Abstract
The main objective of this paper is to determine joint motor selection & trajectory planning of 6 DOF robotic arm. The kinematic equations of motion are derived using Denavit-Hartemberg representation. The Workspace of the robot is investigated based on the kinematic equations as well as the physical limit of each joint. The dynamic equations of motion are derived using a Lagrangian-Euler technique. The required torque to move each joint based on prescribed trajectories are calculated for proper selection of the motor torques. The trajectories for the joint variables are generated in fifth-order spline form using general constrained nonlinear optimization, taking into consideration the joint position, velocity, acceleration, jerk and overall current consumption constraints during the movement.
License
This work is licensed under a Creative
Commons
Attribution-ShareAlike 4.0 International License.
Author Information
| # | Name | Institute / Affiliation |
|---|---|---|
| 1 | Tushar S. Karhale | Datta Meghe institute of engineering, technology and research, Sawngi(M), Wardha |
| 2 | Anil C. Gawande | Datta Meghe Institute of engineering technology and research, Sawangi (M), Wardha |
| 3 | Dinesh D. Dekate | Datta Meghe Institute of engineering technology and research, Sawangi (M), Wardha |
| 4 | Bhushan B. Deshmukh | Gurunak Institute of engineering technology research,Nagpur |
How to Cite
Use the following formats to cite this article in your research.
APA Style
Karhale, Tushar S., Gawande, Anil C., Dekate, Dinesh D., & Deshmukh, Bhushan B. (2016). Review Paper On Trajectory Planning. International Journal of Advance Research and Innovative Ideas In Education, 2(2), 266-269.
MLA Style
Karhale, Tushar S., et al. "Review Paper On Trajectory Planning." International Journal of Advance Research and Innovative Ideas In Education, vol. 2, no. 2, 2016, pp. 266-269.
IEEE Style
Tushar S. Karhale, Anil C. Gawande, Dinesh D. Dekate, and Bhushan B. Deshmukh, "Review Paper On Trajectory Planning," International Journal of Advance Research and Innovative Ideas In Education, vol. 2, no. 2, pp. 266-269, 2016.
Vancouver Style
Karhale Tushar S., Gawande Anil C., Dekate Dinesh D., Deshmukh Bhushan B.. Review Paper On Trajectory Planning. International Journal of Advance Research and Innovative Ideas In Education. 2016;2(2):266-269.
Harvard Style
Karhale, Tushar S., Gawande, Anil C., Dekate, Dinesh D., & Deshmukh, Bhushan B. (2016) 'Review Paper On Trajectory Planning', International Journal of Advance Research and Innovative Ideas In Education, 2(2), pp. 266-269.
Chicago Style
Karhale, Tushar S., et al. "Review Paper On Trajectory Planning." International Journal of Advance Research and Innovative Ideas In Education 2, no. 2 (2016): 266-269.
Turabian Style
Karhale, Tushar S., et al. "Review Paper On Trajectory Planning." International Journal of Advance Research and Innovative Ideas In Education 2, no. 2 (2016): 266-269.
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