Obiekt
Tytuł: Differential kinematics of contemporary industrial robots
Współtwórca:
Tytuł publikacji grupowej:
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.
Wydawca:
Zielona Góra: Uniwersytet Zielonogórski
Format:
Identyfikator zasobu:
DOI:
Strony:
Źródło:
IJAME, volume 19, number 3 (2014)
Jezyk:
Licencja:
Licencja CC BY-NC-ND 4.0:
Prawa do dysponowania publikacją:
Biblioteka Uniwersytetu Zielonogórskiego
Kolekcje, do których przypisany jest obiekt:
- Zielonogórska Biblioteka Cyfrowa > Repozytorium > Jednostki organizacyjne > Wydział Mechaniczny
- Zielonogórska Biblioteka Cyfrowa > Repozytorium > Typy utworów > Artykuły
- Zielonogórska Biblioteka Cyfrowa > Repozytorium > Czasopisma naukowe i serie wydawnicze UZ > International Journal of Applied Mechanics and Engineering (IJAME)
- Zielonogórska Biblioteka Cyfrowa > Repozytorium > Czasopisma naukowe i serie wydawnicze UZ > International Journal of Applied Mechanics and Engineering (IJAME) > International Journal of Applied Mechanics and Engineering (IJAME) (2014)
Data ostatniej modyfikacji:
2023-07-06
Data dodania obiektu:
2023-04-20
Liczba wyświetleń treści obiektu:
57
Wszystkie dostępne wersje tego obiektu:
https://zbc.uz.zgora.pl/publication/81120
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Wyświetl opis w formacie OAI-PMH:
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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) - Contents
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International Journal of Applied Mechanics and Engineering (IJAME), volume 19, number 4 (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 18 (2013)
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International Journal of Applied Mechanics and Engineering (IJAME), volume 29 (2024)
| Nazwa wydania | Data |
|---|---|
| Differential kinematics of contemporary industrial robots | 2023-07-06 |
