Creator:

Dulęba, Ignacy

Contributor:

Korbicz, Józef (1951- ) - red. ; Uciński, Dariusz - red.

Title:

Kinematic approximation of robotic manipulators

Group publication title:

AMCS, volume 10 (2000)

Subject and Keywords:

manipulator ; kinematics ; approximation ; metrics ; ULB robot

Abstract:

A kinematic approximation of the nominal, reference kinematics of a manipulator is addressed. The approximation task leads to a minimax optimization problem. Some modifications facilitating the implementation of the algorithm in search spaces of high dimensionalities are presented. A sub-gradient mesh algorithm of solving the minimax task is given in detail. The approximation of the CYBOTECH manipulator with a ULB robot is provided based on the use of the Chebyshev metric. As an alternative, some measures of proximity of manipulators are also introduced.

Publisher:

Zielona Góra: Uniwersytet Zielonogórski

Date:

2000

Resource Type:

artykuł

Pages:

605-622

Source:

AMCS, volume 10, number 3 (2000) ; click here to follow the link

Language:

eng

License CC BY 4.0:

click here to follow the link

Rights:

Biblioteka Uniwersytetu Zielonogórskiego