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 |
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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 | |
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 |
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Страна | Российская Федерация |
Город | Omsk |
Период | 21.5.15 → 23.5.15 |
ASJC Scopus subject areas
- Computer Networks and Communications
- Control and Systems Engineering