Development of a Trajectoy Planner for Trajectories with Double-S-velocity-profil and implementation in a manipulator control system

The goal of the project was the development of a trajectory planner for trajectories with double-S-velocity profil and the use of the concept on a 6-axis light-weight robot.

In the process of this work a Point-to-Point and a linear trajectory planner, with axis synchronization, was developed and implemented in the existing control architecture.


For the full read Thesis please contact me.

Tools: Matlab, Matlab Simulink

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