Trajectory planning of robot based on equal arc-length synthesis for coupler curves

In this paper,for the purpose based on mechanisms,a procedure is pre sented for arranging points on the coupler curve with an equal distance,in which the input and output angles are interchanged according to whether the differen tial coefficient of the output angle is greater than some reference values or not.Furthermore,a pattern matching method is presented for synthesizing the coup lercurve of the trajectory planning of robot.