Obiekt
Tytuł: Application of direct and inverse kinematics and dynamics in motion planning of manipulator links
Autor:
Delyová, Ingrid ; Hroncová, Darina ; Frankovský, Peter ; Sivák, Peter ; Kostka, Ján ; Neumann, Vojtech
Data wydania:
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Tytuł publikacji grupowej:
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.
Wydawca:
Zielona Góra: Uniwersytet Zielonogórski
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DOI:
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Źródło:
IJAME, volume 28, number 3 (2023)
Jezyk:
Licencja:
Licencja CC BY-NC-ND 4.0:
Prawa do dysponowania publikacją:
Biblioteka Uniwersytetu Zielonogórskiego
Kolekcje, do których przypisany jest obiekt:
- Repozytorium > Jednostki organizacyjne > Wydział Mechaniczny
- Repozytorium > Typy utworów > Artykuły
- Repozytorium > Czasopisma naukowe i serie wydawnicze UZ > International Journal of Applied Mechanics and Engineering (IJAME)
- Repozytorium > Czasopisma naukowe i serie wydawnicze UZ > International Journal of Applied Mechanics and Engineering (IJAME) > International Journal of Applied Mechanics and Engineering (IJAME) (2023)
Data ostatniej modyfikacji:
2023-10-30
Data dodania obiektu:
2023-10-30
Liczba wyświetleń treści obiektu:
71
Wszystkie dostępne wersje tego obiektu:
https://zbc.uz.zgora.pl/repozytorium/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 29 (2024)
| Nazwa wydania | Data |
|---|---|
| Application of direct and inverse kinematics and dynamics in motion planning of manipulator links | 2023-10-30 |
