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This paper describes and evaluates a Collision Avoidance path planning Algorithm (CAA) for manipulator based on Minimum Distance Technique (MDT) that calculates collision free path by searching grid points in Euclidean Space. The key mechanism for avoiding collision based on MDT is the one that determine the minimum distance between two links and between a link and the edge of obstacles. It is necessary...
In this paper, the point-to-point control problem of a Prismatic-Revolute (PR) under-actuated manipulator is presented. The PR under-actuated manipulator with the first prismatic actuated joint and a second revolute passive joint can only move in the horizontal plane. According to the characteristic of the dynamic equation of the system, a new equation concerned only with generalized coordinate, velocity...
The paper presents mathematical modelling of Scara manipulator. The simulation was carried out in Matlab. In the first part of the article we present derivation of the manipulator dynamic equations. Then we describe the implementation of control law, models of engines and other components necessary to carry out the simulation. Finally, we present the results of simulation of the analyzed manipulator,...
In order to ensure space manipulator operates safely and reliably, dependable locking and fixing is necessary before launching. Thus, locking and fixing of space manipulator is extremely important. Optimized number and position of locked points are needed while locking and fixing. Based on the number of manipulator's locked points and position's disposal method and finite theory, the system first-order...
This paper describes the method of semiautomatic combined telecontrol by multi-link manipulator using special setting device (SD). For the survey of working space the mobile television camera is used. Optical axis of this camera can change spatial orientation during performance of operations. The algorithm of work of computing system which forms the setting signals for drives of all degrees of freedom...
A novel translational parallel manipulator with three identical legs is presented. The mobility and the selection of the actuated joints of the manipulator are addressed based on the screw theory. The kinematic problems, singularity and dexterity of the mechanism are discussed according to the different actuation methods. When the rotary actuation method is adopted, the Jacobian matrix is similar...
The displacement analysis problem of parallel robot mechanism can be finally transformed into solving nonlinear equations and the finding-process is very difficult. Moreover, the more CCS kinematic pair the more complexly to find. The mathematical programming method is adopted when the iteration diverges with the Newton and quasi-Newton methods. If chaotic sequences are considered as the initial guess...
Based on the theory of graph representation, the canonical graph representation of the continuous 3R oblique non-spherical wrist was setup, and links were divided into carriers and carried links. The concept of virtual link was introduced, and contributions of the carried links to the generalized inertia forces were divided into two parts. The first part is due to the motion with the carriers (virtual...
Based on the characteristics of serial joints and parallel joints, we put forward a tooth-arrangement robot composed of a kind of 5 degrees of freedom mechanism of serial structure and parallel structure. Through the analysis of the tooth-arrangement robot mechanism, the equation of kinematics has been built. We analyze the question of inverse kinematics and deduce the matrix of position and gesture...
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