Trajectory Tracking Control of Scorbot-er V plus Robot Manipulator Based on Kinematical Approach

In this paper, two approaches to generating such trajectories: straight lines in joint space and straight lines in Cartesian space have been discussed. This is one of the most common requirements in robotics for moving the end-effector smoothly from initial location to goal location. These are known respectively as joint space and Cartesian space tracking. Two user defined algorithms are developed for Joint space as well as Cartesian space trajectory tracking. The algorithm has been tested in simulation yielding fair results, which have also been compared with those provided by another important trajectory planning technique methods.