Résumé:
Planning trajectories of a robot manipulator leads to equations of motion that are often
difficult to solve, so we proceeded to the modeling of robot manipulators that includes the
following models: the geometric model, the kinematic model and dynamic model.For this
purpose, we approach modeling a robot type and method cubic spline path planning with two
examples of a 2R robot.
The goal is to find an optimal path minimizing the
instance the time of completion of the
stain and α weighting factor and for the second example is minimized only the time to achieve
the task, respecting the two examples kinematic and dynamic constraints of the robot
manipulator 2R.
1st
Two software SolidWorks and MATLAB are used to obtain the optimal trajectories of the
two examples that verify the kinematic and dynamic constraints of the robot manipulator, to
put the relevance of the studied model and make the appropriate conclusions
