Parallel Robot Path Planning via Dual Fractional Order Polynomial

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Dheeresh Upadhyay, Rajesh Kumar Upadhyay, Sandeep Pandey

Abstract

A novel methodology is suggested to track the desired trajectory, which is used for delta robot. The prposed method is based on the fractional order polynomial for Cartesian space. In which, two types of fractional order polynomial has been prposed. One is partial fractional order polynomial and another is full fractional order polynomial. The new set of polynomial coefficient for fractional order polynomial is derived. Further, Simulink model has been developed to validate the applicability of prposed method. The position, velocity and acceleration profile has been plotted and compared for step input and sinosodial input.

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