Smooth Motion Generation for Two Coordinated Robot Arms

摘要: Abstract The paper presents a new method for the generation of coordinated robot motions. Two arms are assumed to be working on same job simultaneously. trajectories consist straight lines and circle segments where polynomial smoothing functions variable length inserted in order get smooth transition motions between both segments. coefficients can determined using continuity conditions position, velocity acceleration at points conventional functions. types treated. one type is moving robots such way that distance vector grippers remains constant during motion, while with other only constant. Under special however make changing. A case study shows effect, an alternative calculation without error presented.