Obtaining manipulators kinematic models from its formalised description

Alexander Yakovlev, Alexander Malyshenko

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

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.

Original languageEnglish
Title of host publication2015 International Siberian Conference on Control and Communications, SIBCON 2015 - Proceedings
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Print)9781479971022
DOIs
Publication statusPublished - 1 Jul 2015
Event2015 International Siberian Conference on Control and Communications, SIBCON 2015 - Omsk, Russian Federation
Duration: 21 May 201523 May 2015

Other

Other2015 International Siberian Conference on Control and Communications, SIBCON 2015
CountryRussian Federation
CityOmsk
Period21.5.1523.5.15

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Keywords

  • formalised description
  • joints
  • kinematic chain
  • links
  • manipulator

ASJC Scopus subject areas

  • Computer Networks and Communications
  • Control and Systems Engineering

Cite this

Yakovlev, A., & Malyshenko, A. (2015). Obtaining manipulators kinematic models from its formalised description. In 2015 International Siberian Conference on Control and Communications, SIBCON 2015 - Proceedings [7147297] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SIBCON.2015.7147297