Generation and Control of Basic Geometric Trajectories for a Robot Manipulator Using CompactRIO®

Algorithm 1

Algorithm for joint movement of MOVEJ.

    Data: Actual position: ,

    desired position:

    Result: New position:

  while    do

     if    then

      ;

     end

     if    then

       ;

     end

     if    then

       ;

   end

     if    then

       ;

   end

     if    then

       ;

   end

     ;

 end

 New position ;