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Call for Papers:Vol.8 Issue.4

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Title: :  Review Paper On Trajectory Planning
PaperId: :  1716
Published in:   International Journal Of Advance Research And Innovative Ideas In Education
Publisher:   IJARIIE
e-ISSN:   2395-4396
Volume/Issue:    Volume 2 Issue 2 2016
DUI:    16.0415/IJARIIE-1716
Licence: :   IJARIIE is licensed under a Creative Commons Attribution-ShareAlike 4.0 International License.

Author NameAuthor Institute
Tushar S. KarhaleDatta Meghe institute of engineering, technology and research, Sawngi(M), Wardha
Anil C. GawandeDatta Meghe Institute of engineering technology and research, Sawangi (M), Wardha
Dinesh D. DekateDatta Meghe Institute of engineering technology and research, Sawangi (M), Wardha
Bhushan B. DeshmukhGurunak Institute of engineering technology research,Nagpur

Abstract

Robotics
kinematics, dynamics, trajectory planning
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.

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IJARIIE 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 Volume 2 Issue 2 2016 Page 266-269
MLA 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 2.2(2016) : 266-269.
APA Tushar S. Karhale, Anil C. Gawande, Dinesh D. Dekate, & Bhushan B. Deshmukh. (2016). Review Paper On Trajectory Planning. International Journal Of Advance Research And Innovative Ideas In Education, 2(2), 266-269.
Chicago 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 2, no. 2 (2016) : 266-269.
Oxford 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, 2016, p. 266-269. Available from IJARIIE, http://ijariie.com/AdminUploadPdf/Review_Paper_On_Trajectory_Planning_ijariie1716.pdf (Accessed : 19 March 2018).
Harvard Tushar S. Karhale, Anil C. Gawande, Dinesh D. Dekate, and Bhushan B. Deshmukh. (2016) 'Review Paper On Trajectory Planning', International Journal Of Advance Research And Innovative Ideas In Education, 2(2), pp. 266-269IJARIIE [Online]. Available at: http://ijariie.com/AdminUploadPdf/Review_Paper_On_Trajectory_Planning_ijariie1716.pdf (Accessed : 19 March 2018)
IEEE 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, Mar-App 2016. [Online]. Available: http://ijariie.com/AdminUploadPdf/Review_Paper_On_Trajectory_Planning_ijariie1716.pdf [Accessed : 19 March 2018].
Turabian 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 [Online]. volume 2 number 2 (19 March 2018).
Vancouver 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 [Internet]. 2016 [Cited : 19 March 2018]; 2(2) : 266-269. Available from: http://ijariie.com/AdminUploadPdf/Review_Paper_On_Trajectory_Planning_ijariie1716.pdf
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