Obtaining manipulators kinematic models from its formalised description

Alexander Yakovlev, Alexander Malyshenko

Результат исследования: Материалы для книги/типы отчетовМатериалы для конференции

1 Цитирования (Scopus)

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 оригиналаАнглийский
Заголовок главной публикации2015 International Siberian Conference on Control and Communications, SIBCON 2015 - Proceedings
ИздательInstitute of Electrical and Electronics Engineers Inc.
ISBN (печатная версия)9781479971022
DOI
Статус публикацииОпубликовано - 1 июл 2015
Событие2015 International Siberian Conference on Control and Communications, SIBCON 2015 - Omsk, Российская Федерация
Длительность: 21 мая 201523 мая 2015

Другое

Другое2015 International Siberian Conference on Control and Communications, SIBCON 2015
СтранаРоссийская Федерация
ГородOmsk
Период21.5.1523.5.15

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ASJC Scopus subject areas

  • Computer Networks and Communications
  • Control and Systems Engineering

Цитировать

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.. https://doi.org/10.1109/SIBCON.2015.7147297