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

<table class="figure-group"><tr class="fig-image" id="a"><td><object data="https://static.hindawi.com/articles/jr/volume-2017/7508787/figures/7508787.fig.0015a.svgz" name="7508787.fig.0015a" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(a) </b>Border of workspace outside area, top view</td></tr><tr class="fig-image" id="b"><td><object data="https://static.hindawi.com/articles/jr/volume-2017/7508787/figures/7508787.fig.0015b.svgz" name="7508787.fig.0015b" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(b) </b>Border of workspace, side view</td></tr></table>

<div>Scorbot workspace found in simulation.</div>

Journal of Robotics

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Figure 15

Figure 15: Generation and Control of Basic Geometric Trajectories for a Robot Manipulator Using CompactRIO® 