Mixed Profile Method of Speed and Location for Robotic Arms Motion used for Precise Positioning

The paper describes a new real-time computation method named Mixt Profile of Speed (MPS), which is used to obtain the value of speed, at every sampling period of time, during the acceleration and deceleration stage, whereas the motion has three stages: 1) acceleration, 2) motion with imposed constant speed, and 3) deceleration. The method will determinate the location of a robotic arm for every sampling period of time. The originality of this new computation method refers to the deceleration stage; it determines an accurate positioning at the end of the motion in a well determinate interval of time. During the forced constant motion stage, the trajectory is imposed and it is linear or circular. The ADNIA algorithm (numerical differential analysis interpolation algorithm) can be implemented at this stage (during the motion with imposed constant speed of the robotic arm) in order to ensure the maximum precision of the computation for the waypoints Cartesian coordinates.