Question

Consider a single-link robot manipulator with a rotary joint. If initial angular position of the joint is 5° and the joint will rotate to the final position of 80° in 3 seconds, design a LSPB trajectory with constant cruising velocity of 30°/sec. Sket position, velocity and acceleration I. ch the graphs for ts angular

Robotics System subject

Answer 1

Subtract equation (3) from equation (2), 2.25az--5° a,--2.22 Differentiate the velocity equation with respect to t dt dt i(t) At t=1-5 sec : =0 0-2a,+6a, x(1.5) 2a,-6a3x(15) Substitute the value of a3 in the above equation. a, -4.5x(-2.22) -10 From equation (3), a, +3x(-10)+6.75x(-2.22) 30 q =-15 Substitute the value of ao, at, ah and az in the equation (1)