TECHICAL Series MATHEMATICS  INFORMATICS  PHYSICS Series PHILOLOGY Series ECONOMIC SCIENCES Sereies EDUCATIONAL SCIENCES Series LAW AND SOCIAL SCIENCES Series
On Complex Trajectories Generation with a Robotic Arm with Spherical Structure
(Asupra generării de traiectorii complexe cu un braţ robotic cu structură sferică)
Vol LXV • No. 4/2013
Dorin Bădoiu
Universitatea Petrol-Gaze din Ploieşti, Bd. Bucureşti 39, Ploieşti
e-mail: badoiu@mail.upg-ploiesti.

 Keywords   robot, trajectory, spherical structure

 Abstract
The paper presents a method that allows the generation of complex trajectories using a robotic arm with spherical structure. The positional analysis of the robotic arm is realized using the rotation matrices method. The method is applied for generating a parabolic trajectory. A simulation program has been realized for this case. Finally, some simulation results are presented.

 Rezumat
Articolul prezintă o metodă care permite generarea de traiectorii complexe folosind un braţ robotic cu structură sferică. Analiza poziţională a braţului robotic se realizează folosind metoda matricelor de rotaţie. Pentru acest caz s-a realizat un program de simulare. In final, o serie de rezultate ale simulărilor sunt prezentate.



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