Obtaining manipulators kinematic models from its formalised description

Аннотация

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.

Язык оригинала	Английский
Название основной публикации	2015 International Siberian Conference on Control and Communications, SIBCON 2015 - Proceedings
Издатель	Institute of Electrical and Electronics Engineers Inc.
ISBN (печатное издание)	9781479971022
DOI	https://doi.org/10.1109/SIBCON.2015.7147297
Состояние	Опубликовано - 1 июл 2015
Событие	2015 International Siberian Conference on Control and Communications, SIBCON 2015 - Omsk, Российская Федерация Продолжительность: 21 мая 2015 → 23 мая 2015

Другое

Другое	2015 International Siberian Conference on Control and Communications, SIBCON 2015
Страна	Российская Федерация
Город	Omsk
Период	21.5.15 → 23.5.15

ASJC Scopus subject areas

Computer Networks and Communications
Control and Systems Engineering

Доступ к документу

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.

Результат исследований: Материалы для книги/типы отчетов › Материалы для конференции

Yakovlev, A & Malyshenko, A 2015, Obtaining manipulators kinematic models from its formalised description. в 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, Российская Федерация, 21.5.15. https://doi.org/10.1109/SIBCON.2015.7147297

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