Obtaining manipulators kinematic models from its formalised description

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 language	English
Title of host publication	2015 International Siberian Conference on Control and Communications, SIBCON 2015 - Proceedings
Publisher	Institute of Electrical and Electronics Engineers Inc.
ISBN (Print)	9781479971022
DOIs	https://doi.org/10.1109/SIBCON.2015.7147297
Publication status	Published - 1 Jul 2015
Event	2015 International Siberian Conference on Control and Communications, SIBCON 2015 - Omsk, Russian Federation Duration: 21 May 2015 → 23 May 2015

Other

Other	2015 International Siberian Conference on Control and Communications, SIBCON 2015
Country	Russian Federation
City	Omsk
Period	21.5.15 → 23.5.15

Keywords

formalised description
joints
kinematic chain
links
manipulator

ASJC Scopus subject areas

Computer Networks and Communications
Control and Systems Engineering

Access to Document

10.1109/SIBCON.2015.7147297

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Obtaining manipulators kinematic models from its formalised description. / Yakovlev, Alexander; Malyshenko, Alexander.

2015 International Siberian Conference on Control and Communications, SIBCON 2015 - Proceedings. Institute of Electrical and Electronics Engineers Inc., 2015. 7147297.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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., 2015 International Siberian Conference on Control and Communications, SIBCON 2015, Omsk, Russian Federation, 21.5.15. https://doi.org/10.1109/SIBCON.2015.7147297

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