Planning of manipulator motion trajectory with higher-degree polynomials use

The paper presents a planning mode of trajectory motion for serial-link manipulators with higher-degree polynomials application. The linear acceleration profiles of end-effector, for each coordinate, were planned as the polynomials of degrees 9, 7 and 5. To build a polynomial form, the properties of the roots multiplicity were utilized. This approach to polynomial form structure necessitates the determination of only one polynomial coefficient, irrespective of its order. Time courses of displacements, velocities, accelerations and jerk for the rectilinear path of end-effector motion for a three degrees of freedom (DOF) manipulator were presented. An inverse kinematics problem was solved and on this basis the runs of displacements, velocities, accelerations and angular jerks of each kinematic chain link were established. (C) 2008 Elsevier Ltd. All rights reserved.