Speed Variation along an Imposed Linear Trajectory, for Robotic Arms Motion

Abstract

The paper describes a method of speed (velocity) computation, named mixt profile, during a motion upon an imposed linear trajectory. The method assures an accurate positioning at the end of motion (movement), in a well determinate time lapse. The described method is linked with position vector computation, about a robotic arm.

Keywords

• cinematics of robotic arm
• vectors and versors
• waypoints
• acceleration or deceleration of movement
• axle steps