In this paper, we have reported a trajectory planning for a 1- degree-of-freedom clutched robotic arm. This novel robotic arm has only one actuator, but it can work in a spatial space by using a proper clutch system and a suitable trajectory planning. An algorithm has been proposed for generating a prescribed trajectory by means of seven operation modes, which are generated by different states of clutches.
Trajectory Planning for a 1-DOF Clutched Robotic Arm
CECCARELLI, Marco
2011-01-01
Abstract
In this paper, we have reported a trajectory planning for a 1- degree-of-freedom clutched robotic arm. This novel robotic arm has only one actuator, but it can work in a spatial space by using a proper clutch system and a suitable trajectory planning. An algorithm has been proposed for generating a prescribed trajectory by means of seven operation modes, which are generated by different states of clutches.File in questo prodotto:
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