In this paper same experimental results of motion planning, with a technique that has been developed at our Department, is presented. With this kind of planning each servomotor will move with a variable law motion at any moment, in this way it is possible to bring the end-effector on the planned path in each moment. The comparison between new technique and classic point to point planning, shows that by means of the proposed technique it is possible to obtain a planned trajectory with a better precision.
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