Trajectory formation methods with motion resolution for mobile piezorobots

Abstract

Here are introduced path-planning algorithms of mobile piezorobots with motion resolution in two dimensional space. Motion trajectory formation with resolution integration into switching contacts, control points and tangents algorithms is analyzed according to the type of planned trajectory. Presented calculation formulas of minimum deviation from planned trajectory. Generated trajectory parameters such as quantity of switching contacts, displacement length and rotation angle with respect to resolution are analyzed in this paper.