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 | |
| 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 |
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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
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
}
TY - GEN
T1 - Obtaining manipulators kinematic models from its formalised description
AU - Yakovlev, Alexander
AU - Malyshenko, Alexander
PY - 2015/7/1
Y1 - 2015/7/1
N2 - 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.
AB - 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.
KW - formalised description
KW - joints
KW - kinematic chain
KW - links
KW - manipulator
UR - http://www.scopus.com/inward/record.url?scp=84941087024&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84941087024&partnerID=8YFLogxK
U2 - 10.1109/SIBCON.2015.7147297
DO - 10.1109/SIBCON.2015.7147297
M3 - Conference contribution
AN - SCOPUS:84941087024
SN - 9781479971022
BT - 2015 International Siberian Conference on Control and Communications, SIBCON 2015 - Proceedings
PB - Institute of Electrical and Electronics Engineers Inc.
ER -