PLANNING THE TRAJECTORY OF THE SCORBOT-ER VII ROBOT

Abstract

The paper wishes to analyze the planning and the control of the trajectory of the movement of the end-effector of a rotating robot with 5 degrees of freedom (5R), imposing certain constraints in order to simplify the mathematical approach. By correctly modeling the direct and inverse kinematics, the positions of the end-effector can be determined in terms of time. Simultaneously, constraints can be imposed so that the robot should move on different trajectories within a previously established period of time and the final result would be the precise achievement of the given tasks. The illustrated method allows the decoupled calculus of the positioning parameters of the end-effector from the orientation ones. This method simplifies and facilitates the analytical approach of the problem.