Joint 1 of a 6-axis robot is to go from an initial angle of 6, =15° to the final angle of e = 75° in 3 seconds with a cruising velocity of w =25%sec. Find the necessary blending time for a trajectory with linear segments and parabolic blends, derive and plot joint position, velocity, and acceleration as a function of time.

Joint 1 of a 6-axis robot is to go from an initial angle of 6, =15° to the final angle of e = 75° in 3 seconds with a cruising velocity of w =25%sec. Find the necessary blending time for a trajectory with linear segments and parabolic blends, derive and plot joint position, velocity, and acceleration as a function of time.

Power System Analysis and Design (MindTap Course List)

6th Edition

ISBN:9781305632134

Author:J. Duncan Glover, Thomas Overbye, Mulukutla S. Sarma

Publisher:J. Duncan Glover, Thomas Overbye, Mulukutla S. Sarma

Chapter6: Power Flows

Section: Chapter Questions

Problem 6.23P

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