M. N. Sahinkaya

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This paper presents a new method to generate point-to-point (PTP) trajectories, such as the ones used by robots or CNC machines, using an exponential function as the basis for the trajectory profile. The method is based on adding a series of time-delayed third-order exponential functions to generate an approximation to the trapezoidal velocity profile(More)
This paper presents a method to develop minimum energy trajectories for redundant/hyper-redundant manipulators with pre-defined kinematic and dynamic constraints. The optimal trajectory planning uses fifth order B-spline functions to represent the Cartesian coordinates of the end-effector and angles of the redundant links. The actuator torques are(More)
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