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Title: Differential kinematics of contemporary industrial robots
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Abstract:
The paper presents a simple method of avoiding singular configurations of contemporary industrial robot manipulators of such renowned companies as ABB, Fanuc, Mitsubishi, Adept, Kawasaki, COMAU and KUKA. To determine the singular configurations of these manipulators a global form of description of the end-effector kinematics was prepared, relative to the other links. On the basis of this description , the formula for the Jacobian was defined in the end-effector coordinates. ; Next, a closed form of the determinant of the Jacobian was derived. From the formula, singular configurations, where the determinant?s value equals zero, were determined. Additionally, geometric interpretations of these configurations were given and they were illustrated. For the exemplary manipulator, small corrections of joint variables preventing the reduction of the Jacobian order were suggested. An analysis of positional errors, caused by these corrections, was presented.
Publisher:
Zielona Góra: Uniwersytet Zielonogórski
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Source:
IJAME, volume 19, number 3 (2014)
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License CC BY-NC-ND 4.0:
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Biblioteka Uniwersytetu Zielonogórskiego
Object collections:
- Digital Library of Zielona Góra > Repository > Faculties > Faculty of Mechanical 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 Mechanics and Engineering (IJAME)
- Digital Library of Zielona Góra > Repository > Scientific journals and UZ publishing series > International Journal of Applied Mechanics and Engineering (IJAME) > International Journal of Applied Mechanics and Engineering (IJAME) (2014)
Last modified:
Jul 6, 2023
In our library since:
Apr 20, 2023
Number of object content hits:
35
All available object's versions:
https://zbc.uz.zgora.pl/publication/81120
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International Journal of Applied Mechanics and Engineering (IJAME)
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International Journal of Applied Mechanics and Engineering (IJAME), volume 22 (2017)
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International Journal of Applied Mechanics and Engineering (IJAME), volume 21 (2016)
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International Journal of Applied Mechanics and Engineering (IJAME), volume 20 (2015)
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International Journal of Applied Mechanics and Engineering (IJAME), volume 19 (2014)
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International Journal of Applied Mechanics and Engineering (IJAME), volume 19, number 1 (2014)
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International Journal of Applied Mechanics and Engineering (IJAME), volume 19, number 2 (2014)
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International Journal of Applied Mechanics and Engineering (IJAME), volume 19, number 3 (2014)
- International Journal of Applied Mechanics and Engineering (IJAME), volume 19, number 3 (2014) - spis treści
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International Journal of Applied Mechanics and Engineering (IJAME), volume 29 (2024)
| Edition name | Date |
|---|---|
| Differential kinematics of contemporary industrial robots | Jul 6, 2023 |
