Trajectory Planning of End-Effector for Path with Loop

BORYGA, Marek .
Trajectory Planning of End-Effector for Path with Loop. 
Strojniški vestnik - Journal of Mechanical Engineering, [S.l.], v. 60, n.12, p. 804-814, june 2018. 
ISSN 0039-2480.
Available at: <https://www.sv-jme.eu/sl/article/trajectory-planning-of-end-effector-for-path-with-loop/>. Date accessed: 28 jan. 2026. 
doi:http://dx.doi.org/10.5545/sv-jme.2014.1965.

Boryga, M.
(2014).
Trajectory Planning of End-Effector for Path with Loop.
Strojniški vestnik - Journal of Mechanical Engineering, 60(12), 804-814.
doi:http://dx.doi.org/10.5545/sv-jme.2014.1965

@article{sv-jmesv-jme.2014.1965,
	author = {Marek  Boryga},
	title = {Trajectory Planning of End-Effector for Path with Loop},
	journal = {Strojniški vestnik - Journal of Mechanical Engineering},
	volume = {60},
	number = {12},
	year = {2014},
	keywords = {trajectory planning; sharp corner; path with loop; polynomial acceleration profile; manipulator},
	abstract = {This paper presents an algorithm for rectilinear-arc trajectory planning whose path is composed of two rectilinear segments connected with a loop-shaped arc. The algorithm can be used in solutions with high speed cornering applications. During the realization of the given trajectory, the end-effector passed through the corner twice and the time difference is, simultaneously, the time of loop tracking. On the rectilinear segments, end-effector acceleration was described by a 7th degree polynomial, whereas the velocity while moving through a loop was a constant value. The results of the trajectory planning are presented as courses of displacements, speeds and accelerations of the end-effector and displacements, speeds and accelerations in kinematic pairs of the three manipulators.},
	issn = {0039-2480},	pages = {804-814},	doi = {10.5545/sv-jme.2014.1965},
	url = {https://www.sv-jme.eu/sl/article/trajectory-planning-of-end-effector-for-path-with-loop/}
}

Boryga, M.
2014 June 60. Trajectory Planning of End-Effector for Path with Loop. Strojniški vestnik - Journal of Mechanical Engineering. [Online] 60:12

%A Boryga, Marek 
%D 2014
%T Trajectory Planning of End-Effector for Path with Loop
%B 2014
%9 trajectory planning; sharp corner; path with loop; polynomial acceleration profile; manipulator
%! Trajectory Planning of End-Effector for Path with Loop
%K trajectory planning; sharp corner; path with loop; polynomial acceleration profile; manipulator
%X This paper presents an algorithm for rectilinear-arc trajectory planning whose path is composed of two rectilinear segments connected with a loop-shaped arc. The algorithm can be used in solutions with high speed cornering applications. During the realization of the given trajectory, the end-effector passed through the corner twice and the time difference is, simultaneously, the time of loop tracking. On the rectilinear segments, end-effector acceleration was described by a 7th degree polynomial, whereas the velocity while moving through a loop was a constant value. The results of the trajectory planning are presented as courses of displacements, speeds and accelerations of the end-effector and displacements, speeds and accelerations in kinematic pairs of the three manipulators.
%U https://www.sv-jme.eu/sl/article/trajectory-planning-of-end-effector-for-path-with-loop/
%0 Journal Article
%R 10.5545/sv-jme.2014.1965
%& 804
%P 11
%J Strojniški vestnik - Journal of Mechanical Engineering
%V 60
%N 12
%@ 0039-2480
%8 2018-06-28
%7 2018-06-28

Boryga, Marek.
"Trajectory Planning of End-Effector for Path with Loop." Strojniški vestnik - Journal of Mechanical Engineering [Online], 60.12 (2014): 804-814. Web.  28 Jan. 2026

TY  - JOUR
AU  - Boryga, Marek 
PY  - 2014
TI  - Trajectory Planning of End-Effector for Path with Loop
JF  - Strojniški vestnik - Journal of Mechanical Engineering
DO  - 10.5545/sv-jme.2014.1965
KW  - trajectory planning; sharp corner; path with loop; polynomial acceleration profile; manipulator
N2  - This paper presents an algorithm for rectilinear-arc trajectory planning whose path is composed of two rectilinear segments connected with a loop-shaped arc. The algorithm can be used in solutions with high speed cornering applications. During the realization of the given trajectory, the end-effector passed through the corner twice and the time difference is, simultaneously, the time of loop tracking. On the rectilinear segments, end-effector acceleration was described by a 7th degree polynomial, whereas the velocity while moving through a loop was a constant value. The results of the trajectory planning are presented as courses of displacements, speeds and accelerations of the end-effector and displacements, speeds and accelerations in kinematic pairs of the three manipulators.
UR  - https://www.sv-jme.eu/sl/article/trajectory-planning-of-end-effector-for-path-with-loop/

@article{{sv-jme}{sv-jme.2014.1965},
	author = {Boryga, M.},
	title = {Trajectory Planning of End-Effector for Path with Loop},
	journal = {Strojniški vestnik - Journal of Mechanical Engineering},
	volume = {60},
	number = {12},
	year = {2014},
	doi = {10.5545/sv-jme.2014.1965},
	url = {https://www.sv-jme.eu/sl/article/trajectory-planning-of-end-effector-for-path-with-loop/}
}

TY  - JOUR
AU  - Boryga, Marek 
PY  - 2018/06/28
TI  - Trajectory Planning of End-Effector for Path with Loop
JF  - Strojniški vestnik - Journal of Mechanical Engineering; Vol 60, No 12 (2014): Strojniški vestnik - Journal of Mechanical Engineering
DO  - 10.5545/sv-jme.2014.1965
KW  - trajectory planning, sharp corner, path with loop, polynomial acceleration profile, manipulator
N2  - This paper presents an algorithm for rectilinear-arc trajectory planning whose path is composed of two rectilinear segments connected with a loop-shaped arc. The algorithm can be used in solutions with high speed cornering applications. During the realization of the given trajectory, the end-effector passed through the corner twice and the time difference is, simultaneously, the time of loop tracking. On the rectilinear segments, end-effector acceleration was described by a 7th degree polynomial, whereas the velocity while moving through a loop was a constant value. The results of the trajectory planning are presented as courses of displacements, speeds and accelerations of the end-effector and displacements, speeds and accelerations in kinematic pairs of the three manipulators.
UR  - https://www.sv-jme.eu/sl/article/trajectory-planning-of-end-effector-for-path-with-loop/

Boryga, Marek"Trajectory Planning of End-Effector for Path with Loop" Strojniški vestnik - Journal of Mechanical Engineering [Online], Volume 60 Number 12 (28 June 2018)