Object
Title: Application of direct and inverse kinematics and dynamics in motion planning of manipulator links
Creator:
Delyová, Ingrid ; Hroncová, Darina ; Frankovský, Peter ; Sivák, Peter ; Kostka, Ján ; Neumann, Vojtech
Date:
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Abstract:
For the synthesis of manipulators and robots, an accurate analysis of movements of the individual links is essential. This paper deals with motion planning of the effector of a multi-linked manipulator. An important issue in this area is the orientation and position of links and kinematic pairs in space. In particular, attention should be paid to the position of their endpoint as well as other significant points. ; Trajectory planning allows the manipulator to perform complex tasks, such as picking and placing objects or following a particular path in space. Overall, trajectory planning of a multibody manipulator involves a combination of direct and inverse kinematics calculations, as well as control theory and optimization techniques. It is an important process enabling manipulators to perform complex tasks such as assembly, handling and inspection. ; In the design of robot kinematic structures, simulation programs are currently used for their kinematic and dynamic analysis. The proposed manipulator was first solved by inverse kinematics problem in MATLAB. Subsequently, the trajectories of the end-effector were determined in MATLAB by a direct kinematics problem. In Simulink, using the SimMechanics library, the inverse problem of dynamics was used to determine the trajectories of the moments.
Publisher:
Zielona Góra: Uniwersytet Zielonogórski
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Pages:
Source:
IJAME, volume 28, number 3 (2023)
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License:
License CC BY-NC-ND 4.0:
Rights:
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) (2023)
Last modified:
Oct 30, 2023
In our library since:
Oct 30, 2023
Number of object content hits:
71
All available object's versions:
https://zbc.uz.zgora.pl/publication/84357
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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 29 (2024)
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International Journal of Applied Mechanics and Engineering (IJAME), volume 28 (2023)
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International Journal of Applied Mechanics and Engineering (IJAME), volume 28, number 1 (2023)
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International Journal of Applied Mechanics and Engineering (IJAME), volume 28, number 2 (2023)
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International Journal of Applied Mechanics and Engineering (IJAME), volume 28, number 3 (2023)
- International Journal of Applied Mechanics and Engineering (IJAME), volume 28, number 3 (2023) - spis treści
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International Journal of Applied Mechanics and Engineering (IJAME), volume 28, number 4 (2023)
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International Journal of Applied Mechanics and Engineering (IJAME), volume 28, number 1 (2023)
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International Journal of Applied Mechanics and Engineering (IJAME), volume 27 (2022)
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International Journal of Applied Mechanics and Engineering (IJAME), volume 26 (2021)
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International Journal of Applied Mechanics and Engineering (IJAME), volume 25 (2020)
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International Journal of Applied Mechanics and Engineering (IJAME), volume 24 (2019)
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International Journal of Applied Mechanics and Engineering (IJAME), volume 23 (2018)
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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 18 (2013)
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International Journal of Applied Mechanics and Engineering (IJAME), volume 29 (2024)
| Edition name | Date |
|---|---|
| Application of direct and inverse kinematics and dynamics in motion planning of manipulator links | Oct 30, 2023 |
