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Method of Trajectory Generation of a Generic Robot using Bresenham’s Circle Algorithm

Affiliations

  • Department of Mechanical Engineering, Sri Sairam Institute of Technology, Chennai - 600044, Tamil Nadu, India
  • Department of Production Technology, Madras Institute of Technology, Anna University, Chennai - 600044, Tamil Nadu, India

Abstract


Objectives: This paper characteristic the proposed method of trajectory generator of designing the mechanical type manipulator configuration as called the robot model after validating the kinematic analysis and software simulation of the mechanism. Methods/Statistical Analysis: The robot manipulator has utilized in this paper used for welding operation. In the mechanical configuration the successful utilization of newly designed universal joints and also the use of screw jack mechanisms at the robot manipulator base give the higher flexibility and degrees of freedom (dof) in the arms of the robot. This paper also describes the path planning of the robot based on the computer graphics concept of Bresenham’s line and circle algorithm for trajectory generation. This paper also describes the path planning of the robot based on the Bresenham’s line and circle algorithm concepts. Findings: This type of algorithm proved to generate the trajectory is very much effective, accurate and fast manner. From the trajectory points the new way of finding the joint angles was found using the inverse kinematics relationship were explained in this paper. Application/Improvements: This work is an essential parameter for robot trajectory formation with the given diameter of the cylinder to be going to be welded.

Keywords

Bresenhams Circle Algorithms, Robot Manipulator, Trajectory Generation, Welding Robot

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