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- W2897832302 abstract "The paper presents the algorithm for trajectory planning and the analysis of motion accuracy of an anthropomorphic manipulator whose the end-effector moves over the rectilinear-arc path. The path consists of two rectilinear segments of intersecting directions coupled with the arc of a fixed radius. On these rectilinear segments, the end-effector acceleration is described by a polynomial of 7 th -degree. The motion over the arc proceeds at a constant velocity. The dynamic analysis was carried out on the basis of Lagrange’s equations of the second order. Manipulator flexibility and damping were considered according to the Kelvin-Voigt model introducing spring-damping components into the drive system. The simulation test results were presented in the form of spatial courses of the pre-assigned and realized trajectories as well as time courses of trajectory end-effector mapping errors for three paths with different radii of the arc." @default.
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- W2897832302 date "2018-01-01" @default.
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- W2897832302 title "Mapping Accuracy of Trajectories of Manipulator Motion" @default.
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- W2897832302 doi "https://doi.org/10.1051/itmconf/20182100009" @default.
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