Automatic derivation of kinematic equations for robotic manipulators on the bases of formalized description of their kinematic chains

Automatic derivation of kinematic equations for robotic manipulators on the bases of formalized description of their kinematic chains

Bibliographic Details
Parent link:The 9th International Forum on Strategic Techology (IFOST-2014), September 21-23, 2014, Cox's Bazar, Bangladesh: [proceedings]. [4 p.].— , 2014
Main Author: Yakovlev A. S.
Corporate Author: Национальный исследовательский Томский политехнический университет (ТПУ) Институт кибернетики (ИК) Кафедра интегрированных компьютерных систем управления (ИКСУ)
Other Authors: Malyshenko A. M. Aleksander Maksimovich
Summary:Title screen
Mathematical models of kinematics are an indispensable tool when designing robotic manipulator (RM) and robotic systems based on them, as well as when developing control algorithms to be realised for them. The procedure of the derivation of kinematic equations for manipulators has been perfected in the theory of mechanisms and machinery. At the same time, as a rule, it is connected with a great number of geometrical descriptions and algebraic transformations requiring a significant labor input and potentially causing errors conditioned by human factor. The article provides an original method of formalized description of manipulator kinematic chains (MKC) which incorporates the whole complex of information on MKC required for the derivation of kinematic equations for the manipulator being described. The paper also presents a computer programme, developed and officially registered, which automatically derives manipulator kinematic equations in a numerical or analytical form, as desired, based on the formalised description of their MKC. The article provides examples of using this software for commercial industrial robots.
Language:English
Published: 2014
Series:Publication Only Papers
Subjects:
электронный ресурс
труды учёных ТПУ
формализованное описание
манипуляторы
суставы
кинематические цепи
Online Access:http://180.211.172.109/ifost2014Pro/pdf/S4-P59.pdf
Format: Electronic Book Chapter
KOHA link:https://koha.lib.tpu.ru/cgi-bin/koha/opac-detail.pl?biblionumber=641727

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