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Trajectory planning for a 1-DOF clutched robotic arm

Published online by Cambridge University Press:  12 October 2010

Hao Gu  and
Marco Ceccarelli
Hao Gu*
Affiliation:
Laboratory of Robotics and Mechatronics (LARM), DIMSAT, University of Cassino, via G. Di Biasio, 43, 03043 Cassino, Italy. E-mail: [email protected]
Marco Ceccarelli
Affiliation:
Laboratory of Robotics and Mechatronics (LARM), DIMSAT, University of Cassino, via G. Di Biasio, 43, 03043 Cassino, Italy. E-mail: [email protected]
*
*Corresponding author. E-mail: [email protected]
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Summary

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.

Keywords

Humanoid robotsRobotic armsClutch systemsTrajectory planning
Type
Articles
Information
Robotica , Volume 29 , Issue 5 , September 2011 , pp. 745 - 756
Copyright
Copyright © Cambridge University Press 2010

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