직각좌표 공간에서 로봇 매니퓰레이터의 직선 궤적계획에 관한 연구

A Study on Straight Line Trajectoties of Robot Mainpulator in Cartesian Space

The moving of each axis in the robot manipulator can be represented with the motion of cartesian space. This paper shows the robot manipulator of the straight line trajectory planning algorithms in the cartesian space. The relation formulas between cartesian space and joint space are induced to accomplish a desired trajectory in the cartesian space and the velocity vector of sampling time in the cartesian space is transformed into the velocity vector of joint by the interpolation method. The error of trajectory in moving is removed by obtaining the real position for the present joint position and the desired distance is made by comparing the real position and the next position. Through the simple tests for suggested algorithms are confirmed the validity of algorithms.