Obtaining manipulators kinematic models from its formalised description; Control and Communications (SIBCON)
| Parent link: | Control and Communications (SIBCON).— 2015.— [4 p.] |
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| 第一著者: | |
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| 要約: | Title screen The article provides an original method of formalised description of manipulator kinematic chains (MKC) as the basis for combining the whole complex of information on MKC required for the derivation of kinematic equations for the manipulator being described. Mathematical models of kinematics are an indispensable tool when designing robotic manipulator (RM) and robotic systems based on them. 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 examples of using computer programme, developed and officially registered, which automatically derives manipulator kinematic equations for commercial industrial robot. Режим доступа: по договору с организацией-держателем ресурса |
| 言語: | 英語 |
| 出版事項: |
2015
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| 主題: | |
| オンライン･アクセス: | http://dx.doi.org/10.1109/SIBCON.2015.7147297 |
| フォーマット: | 電子媒体 図書の章 |
| KOHA link: | https://koha.lib.tpu.ru/cgi-bin/koha/opac-detail.pl?biblionumber=644016 |
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| 200 | 1 | |a Obtaining manipulators kinematic models from its formalised description |f A. S. Yakovlev, A. M. Malishenko (Malyshenko) | |
| 203 | |a Text |c electronic | ||
| 300 | |a Title screen | ||
| 320 | |a [References: 8 tit.] | ||
| 330 | |a The article provides an original method of formalised description of manipulator kinematic chains (MKC) as the basis for combining the whole complex of information on MKC required for the derivation of kinematic equations for the manipulator being described. Mathematical models of kinematics are an indispensable tool when designing robotic manipulator (RM) and robotic systems based on them. 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 examples of using computer programme, developed and officially registered, which automatically derives manipulator kinematic equations for commercial industrial robot. | ||
| 333 | |a Режим доступа: по договору с организацией-держателем ресурса | ||
| 463 | |t Control and Communications (SIBCON) |o International Siberian Conference on Russia, Omsk, May 21-23, 2015 |v [4 p.] |o [proceedings] |d 2015 | ||
| 610 | 1 | |a электронный ресурс | |
| 610 | 1 | |a труды учёных ТПУ | |
| 610 | 1 | |a formalised description | |
| 610 | 1 | |a manipulator | |
| 610 | 1 | |a joints | |
| 610 | 1 | |a links | |
| 610 | 1 | |a kinematic chain | |
| 700 | 1 | |a Yakovlev |b A. S. |g Aleksandr Sergeevich | |
| 701 | 1 | |a Malishenko (Malyshenko) |b A. M. |c specialist in the field of informatics and computer technology |c Professor of Tomsk Polytechnic University, Doctor of technical sciences |c Corresponding member of the Academy of Electrical Engineering Sciences of the Russian Federation |c Full member of the International Higher Education Academy of Sciences |f 1937- |g Alexanedr Maximovich |3 (RuTPU)RU\TPU\pers\31592 |9 15751 | |
| 712 | 0 | 2 | |a Национальный исследовательский Томский политехнический университет (ТПУ) |b Институт кибернетики (ИК) |b Кафедра интегрированных компьютерных систем управления (ИКСУ) |3 (RuTPU)RU\TPU\col\18701 |
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| 856 | 4 | |u http://dx.doi.org/10.1109/SIBCON.2015.7147297 | |
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