Optimal Motion Planning of Robotic Systems Performing Point-to-Point Electronic-Assembly Operations

The invention comprises pyridoxal Schiff's bases of the formula wherein R is an alkyl having not more than 6 carbon atoms, aryl or aralkyl group. The aryl or aralkyl groups may be substituted with a halogen atom, an alkyl group or an alkoxy group having not more than 2 carbon atoms. They may be obtained by reacting a pyridoxal Schiff's base of the formula with a phosphorylating agent, and hydrolysing the polyphosphate so obtained with a dilute mineral acid and adjusting the pH to about 2 to 4 to give the pyridoxal Schiff's base. Pyridoxal phosphate is prepared by hydrolysing the pyridoxal Schiff's bases with a caustic alkali solution. Suitable phosphorylating agents include a mixture of H3PO4 and P2O5, a mixture of POCl3 and water, H3PO3, and a mixture of P2O5 and water. If R is alkyl the pH of the solution resulting from acid hydrolysis is adjusted to 2-4 after removing phosphoric acid ions as barium phosphate by adding Ba(OH)2 to the solution. Examples are given where R is n-butyl, n-hexyl, phenyl, p-chlorophenyl, p-tolyl, o- or p-ethoxy-phenyl, o-methoxy-phenyl, benzyl, or phenethyl. Pyridoxal phosphate may be used as a material having the enzyme effect of Vitamin B6 useful as a medicine for curing various forms of dermatitis, pellagra, morning sickness and liver troubles. Pyridoxal Schiff's bases may be prepared by condensation of an aqueous pyridoxal mineral acid salt solution and the appropriate organic amine.