Approximating Cartesian free-form curve path in SCARA robot joint space using clothoid curves

• المؤلف الرئيسي: Moreno, Mary Anne E.
• التنسيق: text
• اللغة: English
• منشور في: Animo Repository 2003
• الموضوعات: Path analysis; Approximation theory; Interpolation; Curves; Computer simulation; Robots > Programming
• الوصول للمادة أونلاين: https://animorepository.dlsu.edu.ph/etd_masteral/3047
• المؤسسة: De La Salle University

A method for approximating Cartesian free-form curve path in SCARA robot joint space using clothoid curves is presented. Path Approximation is done by taking sample points on the curve path in Cartersian space and converting these to their corresponding joint coordinates by applying inverse kinemati...