Robotics: Trajectory Generation

by Anderson Louis

Submitted : Spring 2011

In this project the student finds the angles(θ₁ and θ₂) of the joints of a robotic arm. They would have to find the solutions or equations to these angles under three different parts given by the author. He or she finds these solutions using trig functions and geometry. Then using one of the equations, student generates the θ₁ and θ₂ values so that this transition if the robotic arm from given points (0, 12) to (10, 5) can occur in a smooth manner. Finding the θ₁ and θ₂ values require a lot of effort to produce equations that work together to control the arm of the robot in smooth manner.

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