A CONTROL SYSTEM FOR ROBOT TRAJECTORY PLANNING:ALGORITHM AND FIRST EXPERIMENTAL RESULTS

A technique for robot trajectories planning was proposed and developed. By means of the latter, a better precision of the trajectory itself was achieved. This was obtained by assigning not only the points that the end-effector must go across are assigned but also the tangent lines to the path in each of those given points. The latter condition is achieved by assigning the velocity of each of the joints in the joint space. In order to evaluate the proposed algorithm, a control system was developed for a robot arm which was also designed at the Di.ME. In the paper are also reported some test results for comparisons between the trajectories obtained by traditional techniques and those obtained by the proposed technique. The comparisons clearly show that, generally, by the proposed technique paths closed to the planned ones are obtained, also assigning a much lower number of points.