Abstract:
Most industrial applications require a robot to move materials,
parts etc. from one place to another within the workspace of the
robot. Again there may be mul tip 1e objects within the work space.
In such case an obstacle free trajectory planning system must be
developed with the robotic system. The subject of obstacle-free
trajectory planning is relatively new. within the past few years
only a handful people have been actively working on this topic.
This thesis describes trajectory planning system for a threeaxis
articulated robot. Here a linear interpolation technique is
used to generate the trajectory from pick point to place point.
For solution of the arm equation a simple geometric approach is
used. As a practical demonstration, the developed trajectory
planning system has been applied on a Fischertechnik robot to
grasp a specified chessman and move it from one square. to another
on the chessboard.
