Simulación de trayectorias de una plataforma serial robotizada de dos grados de libertad aplicando trazadores cúbicos y trapezoidales

Abstract

This article presents the trajectory generation using cubic and trapezoidal tracers simulated between start and end point on the kinematic model of a robot serial platform of two degrees of freedom. The aim of this work lies in achieving a smooth interpolation function for the motion by analyzing the behavior of the tracer in position, velocity and acceleration. To simulate the trajectories has been developed a graphic interface in LabView, where the motion of the serial platform and the trajectory generated by the tracer between points is displayed.