Fig. 7: Trajectory planning results of circles, squares, and null-space. | npj Robotics

Fig. 7: Trajectory planning results of circles, squares, and null-space.

From: Trimmed helicoids: an architectured soft structure yielding soft robots with high precision, large workspace, and compliant interactions

Fig. 7

a Circular trajectories of C1 and C2. C1 and C2 were conducted in the heights of 70 cm and 50 cm with the radius of 30 cm respectively. b Square trajectories of S1 and S2. S1 and S2 were planned with a same end trajectory in the height of 60 cm and with the edge length of 40 cm, but with symmetrical and mono-directional configurations, separately. c The manipulators tracking the circle, square and null-space trajectories. d Nullspace trajectories of N1, N2 and N3. N1 was planned tilt to different orientations in a certain angle of 20° at the the position of x = 0 cm, y = 0 cm, z = 70 cm. N2 and N3 were planned at the positions with offsets of y = −10 cm and x = 10 cm with the offset of tilt angles of Rx = −15° and Ry = -15° (counter-clockwise is positive), respectively.

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