THE PATH PLANNING OF TRR SMALL-SIZED ROBOT

Ovidiu-Aurelian Deteşan, Florin Bugnar, Adrian Trif, Claudiu Mihai Nedezki

Abstract


After a brief definition of the robot path, the paper establishes the interpolation polynomials that characterize the displacement of the TRR small-sized robot on a path defined by five successive configurations. The second part of the papers deals with the numerical and graphical simulation of the TRR robot using a script written in MATLAB, TRR_Simulation. The paper ends by representing the time variation of the generalized coordinates and the position of the gripper’s characteristic point and its path, corresponding to the given task.

Key words: TRR robot, path planning, polynomial interpolation functions, MATLAB.


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References


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