Repozytorium Uniwersytetu Zielonogórskiego udostępnia 9 313 obiektów cyfrowych
Obiekt
Tytuł: Kinematics of path tracking at singularities of the planar 2R manipulator
Contributor:
Tchoń, Krzysztof - ed. ; Gosiewski, Anatol - ed.
Subtitle:
Mathematical Methods in Robotics
Group publication title:
Abstract:
A method for determining the differential kinematics of path tracking at singular configurations of the planar 2R manipulator is presented. The method is based on Taylor series analysis of the displacement equations to determine low-order parametric curves that satisfy those equations. ; Results show that singularities can take the form of isolated points, turning points, nodes, and cusps and that the form of the singularity depends on the degree of contact between the path and the workspace boundary. The resulting expansions provide complete low-order information on admissible rates of path traversal and on all families of joint trajectories that track the path at the singularity.
Publisher:
Zielona Góra: Uniwersytet Zielonogórski
Resource Identifier:
Pages:
Source:
AMCS, volume 5, number 2 (1995) ; kliknij tutaj, żeby przejść
Language:
License CC BY 4.0:
Rights:
Biblioteka Uniwersytetu Zielonogórskiego
Kolekcje, do których przypisany jest obiekt:
- Repository > Faculties > Faculty of Computer, Electrical and Control Engineering
- Repository > Types of work > Articles
- 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) (1995)
Data ostatniej modyfikacji:
Jul 14, 2025
Data dodania obiektu:
Sep 21, 2020
Liczba wyświetleń treści obiektu:
150
Wszystkie dostępne wersje tego obiektu:
https://zbc.uz.zgora.pl/repozytorium/publication/64258
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| Nazwa wydania | Data |
|---|---|
| Kinematics of path tracking at singularities of the planar 2R manipulator | Jul 14, 2025 |
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