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Draw a circle with a robotic arm?

I believe the technical term for this would be "arm navigation planning with hard dynamic geometric constraints". But my question would be how can I implement trajectory planning of a circle or similar geometric path with a robotic arm?

Using a series of concentrated waypoints in the arm navigation would be one way I would guess. But slow to compute and carry out?

To want to draw a circle or other geometric object with a robotic arm seems fairly fundamental, yet it actually appears to be quite complicated.

Any advice?

Draw a circle with a robotic arm?

I believe the technical term for this would be "arm navigation planning with hard dynamic geometric constraints". But my question would be how can I implement trajectory planning of a circle or similar geometric path with a robotic arm?

Using a series of concentrated waypoints in the arm navigation would be one way I would guess. But slow to compute and carry out?

To want to draw a circle or other geometric object with a robotic arm seems fairly fundamental, yet it actually appears to be quite complicated.

Any advice?

Draw a circle with a robotic arm?

I believe the technical term for this would be "arm navigation planning with hard dynamic geometric constraints". But my question would be how can I implement trajectory planning of a circle or similar geometric path with a robotic arm?

Using a series of concentrated waypoints in the arm navigation would be one way I would guess. But slow to compute and carry out?

To want to draw a circle or other geometric object with a robotic arm seems fairly fundamental, yet it actually appears to be quite complicated.

Any advice?