JOIV : International Journal on Informatics Visualization
Vol 1, No 4 (2017)

Specific Language for Robot Trajectory Generation

Kaloyan Yankov (Trakia University, Bulgaria)



Article Info

Publish Date
01 Dec 2017

Abstract

In this paper, a programming language for describing trajectories of the Mover 4 educational robot is discussed. The goal is to overcome the limitations of the programming tools provided by the manufacturer. Object-oriented structures of trajectories in the joint space and three-dimensional space are formulated. The model of the trajectory in the joint space is represented by the value of the joint, its velocity and acceleration, and the inertial tensor of the configuration from the respective joint to the end-effector. The inertia tensor is necessary to calculate joint forces and moments. A point from the trajectory in three-dimensional space is defined by the Cartesian coordinates of the end-effector, its orientation with the Euler angles and its velocity. Language offers spatial primitives to describe trajectories formed by segments, circle arcs, and cubic splines. Each primitive has a method of generating intermediate points. The language will allow the study of kinematic and dynamic capabilities in tracking trajectories.

Copyrights © 2017






Journal Info

Abbrev

joiv

Publisher

Subject

Computer Science & IT

Description

JOIV : International Journal on Informatics Visualization is an international peer-reviewed journal dedicated to interchange for the results of high quality research in all aspect of Computer Science, Computer Engineering, Information Technology and Visualization. The journal publishes state-of-art ...