Generating a reference trajectory with defined kinematics for the IRb-6 manipulator
The author presents an original computer algorithm PLAN2 generating a reference trajectory of motion for the IRb-6 manipulator. The kinematics of those trajectories is defined at selected points through which a task is to be passed, and the distance between them is optimal. The algorithm is based on analytic solutions to the inverse kinematic problem for the IRb-6 manipulator. An illustrative example is given.
scientific article; zbMATH DE number 751296