期刊名称：International Journal of Advanced Computer Science and Applications(IJACSA)
印刷版ISSN：2158-107X
电子版ISSN：2156-5570
出版年度：2018
卷号：9
期号：2
DOI：10.14569/IJACSA.2018.090203
出版社：Science and Information Society (SAI)
摘要：The computation method proposed in this paper, named ADNIA (Analysis Differential Numeric Interpolate Algorithms), computes waypoints Cartesian coordinates for TCP (tool centre point) of a robotic arm, for a motion on an linear or circular imposed trajectories. At every sampling period of time, considering real-time software implementation of ADNIA, the location matrix of a robotic arm is computed. This computation method works with a well-defined value of motion speed; it results a maximum computation precision (for those motions).
关键词：Waypoints; location matrix; position vector; orientation of a robotic arm; orientation versors; Analysis Difference Numeric Interpolate Algorithm (ADNIA); linear or circular ADNIA
