Autors: Ivanova, M. I., Genev, H. G.
Title: Modeling the Law of Motion of a Robotic Manipulator Using Polynomial Functions †
Keywords: dynamic loads reduction, kinematic constraints, trajectory planning, uniform motion segment

Abstract: The increasing use of robotic manipulators in construction requires precise trajectory planning to reduce oscillations, dynamic loads, and positioning errors. Trajectory planning, understood as determining the manipulator’s motion from an initial to a final configuration while satisfying specified kinematic and dynamic constraints, is a fundamental part of motion planning. Polynomial trajectories are widely applied because they ensure smoothness and allow specifying boundary conditions on velocity and acceleration. However, higher-degree polynomials introduce computational complexity. This study develops the analytical framework for seventh-degree polynomial trajectory generation for horizontal motion with smooth acceleration and deceleration, achieving prescribed maximum velocity and acceleration and identifying the conditions for including a uniform-motion segment.

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Issue

Engineering Proceedings, vol. 150, 2026, Albania, https://doi.org/10.3390/engproc2026150065

Вид: статия в списание, публикация в реферирано издание, индексирана в Scopus