Object
Title: Links and actuators kinematics of IRb-6 manipulator
Contributor:
Korbicz, Józef (1951- ) - red. ; Uciński, Dariusz - red.
Group publication title:
Abstract:
A fundamental problem in industrial robots control concerns algorithms generating reference trajectories. In the papers (Gerke, 1985; Gousenes, 1984; Jacak, 1989; Lozano-Perez, 1983) some generating algorithms based on an arbitrary discretization of the manipulators internal coordinates are suggested. Each point of discretization in the external space approximating a reference trajectory is represented by known discretized internal coordinates of the manipulator. ; On the other hand, in papers (Dulęba and Łysakowska, 1990; Jacak and Łysakowska, 1990; Taylor, 1983) iteration methods of determining the internal coordinates corresponding to external coordinates of the reference trajectory point have been suggested. By applying this technique, the point of the reference trajectory is approached in successive steps of an iterative procedure. ; In the paper of Dulęba and Łysakowska (1990) a modified iterative method of generating a straight segment of the reference trajectory has been presented. Analytic formulae which are the solution to an inverse problem of manipulator kinematics enable us to design trajectory generating algorithms which compute in one step only internal coordinates of points lying exactly on the reference trajectory, with the accuracy resulting from the computer register length. ; The paper presents equations of links and actuators kinematics of IRb-6 manipulator in a matrix form. Also solution to equations of link kinematics as well as formulae joining link and actuator natural coordinates of the manipulator have been presented.
Publisher:
Zielona Góra: Uniwersytet Zielonogórski
Resource Identifier:
Pages:
Source:
AMCS, volume 4, number 1 (1994) ; click here to follow the link
Language:
Rights:
Biblioteka Uniwersytetu Zielonogórskiego
Object collections:
- Digital Library of Zielona Góra > Repository > Faculties > Faculty of Computer, Electrical and Control Engineering
- Digital Library of Zielona Góra > Repository > Types of work > Articles
- Digital Library of Zielona Góra > Repository > Scientific journals and UZ publishing series > International Journal of Applied Mathematics and Computer Science (AMCS)
- Digital Library of Zielona Góra > Repository > Scientific journals and UZ publishing series > International Journal of Applied Mathematics and Computer Science (AMCS) > International Journal of Applied Mathematics and Computer Science (AMCS) (1994)
Last modified:
Nov 5, 2024
In our library since:
Jul 24, 2020
Number of object content hits:
55
All available object's versions:
https://zbc.uz.zgora.pl/publication/63912
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International Journal of Applied Mathematics and Computer Science (AMCS)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 26 (2016)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 25 (2015)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 24 (2014)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 23 (2013)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 22 (2012)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 21 (2011)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 20 (2010)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 19 (2009)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 18 (2008)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 17 (2007)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 16 (2006)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 15 (2005)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 13 (2003)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 12 (2002)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 11 (2001)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 10 (2000)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 9 (1999)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 8 (1998)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 7 (1997)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 6 (1996)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 5 (1995)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 4 (1994)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 4, number 1 (1994)
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- Time-optimal control of parabolic time lag system
- Minimization of energy losses on the transmission line
- Integration of multisensor measurements using modified Kalman filter
- On statistical reconstruction of vector random fields
- General response formula for 2-D bilinear systems
- Links and actuators kinematics of IRb-6 manipulator
- Static and quasi-static routing in integrated services digital networks
- Decomposition of multiple-valued Boolean functions
- Automatic synthesis of self-clocked asynchronous state machines and parallel controllers
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 4, number 2 (1994)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 4, number 3 (1994)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 4, number 4 (1994)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 4, number 1 (1994)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 3 (1993)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 2 (1992)
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International Journal of Applied Mathematics and Computer Science (AMCS),volume 1 (1991)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 26 (2016)
| Edition name | Date |
|---|---|
| Links and actuators kinematics of IRb-6 manipulator | Nov 5, 2024 |
