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robotic arms

Robotica (1)

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Trajectory planning for a 1-DOF clutched robotic arm
Hao Gu, Marco Ceccarelli
Journal:

Robotica / Volume 29 / Issue 5 / September 2011

Published online by Cambridge University Press:

12 October 2010, pp. 745-756
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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.