Planning Movement of a Robotic Arm for Assembly of Products

This paper presents an algorithmic proposal of a movements' planner for a robotic manipulator. Its application is the planning of trajectories from wooden cuttings in a band saw. This algorithm is based on heuristics. A simulator was developed in order to allow the user to define the table's shape and figure that you want to trim. The simulator was developed in Java from Sun Microsystems, and next it will be applied in ™ Cyberbotics Webots.