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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:
- Repository > Faculties > Faculty of Mechanical Engineering
- Repository > Types of work > Articles
- Repository > Scientific journals and UZ publishing series > International Journal of Applied Mechanics and Engineering (IJAME)
- 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:
57
All available object's versions:
https://zbc.uz.zgora.pl/repozytorium/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 28 (2023)
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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 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
- Numerical effectiveness of different formulations of the rigid finite element method
- Nonlinear vibrations of orthogonal mechanism of shaking table
- Analysis of links positions in landing gear mechanism
- A specific problem of mechanism synthesis
- Parameters estimation for the spherical model of the human knee joint using vector method
- Application of multi-valued weighting logical functions in the analysis of a degree of importance of construction parameters on the example of hydraulic valves
- Decision optimization of machine sets taking into consideration logical tree minimization of design guidelines
- Graph models of automobile gears - kinematics
- Neuro-fuzzy control of a robotic manipulator
- Dynamic axle load of an automotive vehicle when driven on a mobile measurement platform
- Motion planning of a novel 2-DOF parallel manipulator applied as driving simulator of the wheel loader
- Static and dynamic analysis of a pump impeller with a balancing device. Part I: Static analysis
- Static and dynamics of a pump impeller with a balancing device.
- The analysis of pedaling techniques with platform pedals
- Differential kinematics of contemporary industrial robots
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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)
| Edition name | Date |
|---|---|
| Differential kinematics of contemporary industrial robots | Jul 6, 2023 |
