Geometrical significance of trajectory planning through polynomial equation – Customized RPPPRR model robot

• Main Authors: Rath, Kali Charan, Sahu, Supriya, Nayak, Anshuman, Pradhan, Suvikram, Sharma, G. Avinash, Munibara, Patro Pankajkumar
• Format: Conference Proceeding
• Language: English
• Subjects: Actuators; Customization; Kinematics; Polynomials; Robots; Smoothness; Synchronism; Trajectory analysis; Trajectory optimization; Trajectory planning
• ISSN: 0094-243X; 1551-7616
• DOI: 10.1063/5.0155187

The main aim of today’s research is to generate the trajectory from initial to goal that satisfies some objectives, like minimization of time interval, acceleration, Torque, by satisfying the manipulator’s kinematic and dynamic. To this purpose, synchronization of all active DOFs is an important feature of a trajectory planning system. To achieve motion with optimal smoothness, trajectories are executed by all actuators with the identical start and finish time in-starts. The path is made up of ordered loci of places in space that the robot must follow. Locally, the trajectory is defined and planned. Individual trajectories cover sections of the journey. It is often essential that quantities of trajectories merge seamlessly, ensuing in a trajectory design that completely considers the direction’s neighboring trajectories. When bits of trajectories must merge seamlessly, a single trajectory design must consider only the path’s nearby trajectories. A trajectory on the other hand comprises a path and a schedule for getting from initial point (A) to goal point (B). In this paper, the trajectories specified through cubic and quintic polynomial have tested for the 6-DOF RPPPRR customized robot model. Geometry of trajectory analysis through robotic software out put provides a satisfactory smooth trajectory generation through quintic polynomial trajectory over the cubic polynomial trajectory.