Overcoming dead-end situations of synthesis of motions of anthropomorphic robots on the basis of the use of motions of the clutch axis along the linear surface limiting the body angle of service
An algorithm for synthesizing hand motions of anthropomorphic robots by velocity vector during the installation of objects of manipulation given, in the form of rectangular prisms in a container, is proposed. The algorithm makes it possible to solve deadlock situations in computer simulation of m...
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| Format: | Article |
| Language: | English |
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Omsk State Technical University, Federal State Autonoumos Educational Institution of Higher Education
2024-09-01
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| Series: | Омский научный вестник |
| Subjects: | |
| Online Access: | https://www.omgtu.ru/general_information/media_omgtu/journal_of_omsk_research_journal/files/arhiv/2024/%E2%84%963%20(191)%20(%D0%9E%D0%9D%D0%92)/14-21%20%D0%9F%D1%80%D0%B8%D1%82%D1%8B%D0%BA%D0%B8%D0%BD%20%D0%A4.%20%D0%9D..pdf |
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| _version_ | 1832569098758782976 |
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| author | F. N. Pritykin |
| author_facet | F. N. Pritykin |
| author_sort | F. N. Pritykin |
| collection | DOAJ |
| description | An algorithm for synthesizing hand motions of anthropomorphic robots by velocity
vector during the installation of objects of manipulation given, in the form of
rectangular prisms in a container, is proposed. The algorithm makes it possible to
solve deadlock situations in computer simulation of motions. The essence of the
method consists in the use of hand motions, at which the axis of the clash carrier
moves and forms with some approximation a rulered surface, which specifies the
body angle of service. For this purpose, it is proposed to use a database of
configurations that specify certain positions of the output link centre and of the
accumulation carrier axes which coincide with the above-mentioned line surfaces.
The results of calculations of intermediate configurations in computer modeling
of motions of anthropomorphic robots in an organized environment using the
developed algorithm are presented. |
| format | Article |
| id | doaj-art-1bcb9d606ab146629f9da2fc8126a8dc |
| institution | Kabale University |
| issn | 1813-8225 2541-7541 |
| language | English |
| publishDate | 2024-09-01 |
| publisher | Omsk State Technical University, Federal State Autonoumos Educational Institution of Higher Education |
| record_format | Article |
| series | Омский научный вестник |
| spelling | doaj-art-1bcb9d606ab146629f9da2fc8126a8dc2025-02-02T23:15:52ZengOmsk State Technical University, Federal State Autonoumos Educational Institution of Higher EducationОмский научный вестник1813-82252541-75412024-09-013 (191)142110.25206/1813-8225-2024-191-14-21Overcoming dead-end situations of synthesis of motions of anthropomorphic robots on the basis of the use of motions of the clutch axis along the linear surface limiting the body angle of serviceF. N. Pritykin0https://orcid.org/0000-0001-8081-6840Omsk State Technical UniversityAn algorithm for synthesizing hand motions of anthropomorphic robots by velocity vector during the installation of objects of manipulation given, in the form of rectangular prisms in a container, is proposed. The algorithm makes it possible to solve deadlock situations in computer simulation of motions. The essence of the method consists in the use of hand motions, at which the axis of the clash carrier moves and forms with some approximation a rulered surface, which specifies the body angle of service. For this purpose, it is proposed to use a database of configurations that specify certain positions of the output link centre and of the accumulation carrier axes which coincide with the above-mentioned line surfaces. The results of calculations of intermediate configurations in computer modeling of motions of anthropomorphic robots in an organized environment using the developed algorithm are presented.https://www.omgtu.ru/general_information/media_omgtu/journal_of_omsk_research_journal/files/arhiv/2024/%E2%84%963%20(191)%20(%D0%9E%D0%9D%D0%92)/14-21%20%D0%9F%D1%80%D0%B8%D1%82%D1%8B%D0%BA%D0%B8%D0%BD%20%D0%A4.%20%D0%9D..pdfmechanisms of manipulatorsinstantaneous states of mechanismsvector of generalized speedslinear surfacescomputer simulation of motions of anthropomorphic robotsdeadlocksforbidden zonessynthesis of motions of manipulators |
| spellingShingle | F. N. Pritykin Overcoming dead-end situations of synthesis of motions of anthropomorphic robots on the basis of the use of motions of the clutch axis along the linear surface limiting the body angle of service Омский научный вестник mechanisms of manipulators instantaneous states of mechanisms vector of generalized speeds linear surfaces computer simulation of motions of anthropomorphic robots deadlocks forbidden zones synthesis of motions of manipulators |
| title | Overcoming dead-end situations of synthesis of motions of anthropomorphic robots on the basis of the use of motions of the clutch axis along the linear surface limiting the body angle of service |
| title_full | Overcoming dead-end situations of synthesis of motions of anthropomorphic robots on the basis of the use of motions of the clutch axis along the linear surface limiting the body angle of service |
| title_fullStr | Overcoming dead-end situations of synthesis of motions of anthropomorphic robots on the basis of the use of motions of the clutch axis along the linear surface limiting the body angle of service |
| title_full_unstemmed | Overcoming dead-end situations of synthesis of motions of anthropomorphic robots on the basis of the use of motions of the clutch axis along the linear surface limiting the body angle of service |
| title_short | Overcoming dead-end situations of synthesis of motions of anthropomorphic robots on the basis of the use of motions of the clutch axis along the linear surface limiting the body angle of service |
| title_sort | overcoming dead end situations of synthesis of motions of anthropomorphic robots on the basis of the use of motions of the clutch axis along the linear surface limiting the body angle of service |
| topic | mechanisms of manipulators instantaneous states of mechanisms vector of generalized speeds linear surfaces computer simulation of motions of anthropomorphic robots deadlocks forbidden zones synthesis of motions of manipulators |
| url | https://www.omgtu.ru/general_information/media_omgtu/journal_of_omsk_research_journal/files/arhiv/2024/%E2%84%963%20(191)%20(%D0%9E%D0%9D%D0%92)/14-21%20%D0%9F%D1%80%D0%B8%D1%82%D1%8B%D0%BA%D0%B8%D0%BD%20%D0%A4.%20%D0%9D..pdf |
| work_keys_str_mv | AT fnpritykin overcomingdeadendsituationsofsynthesisofmotionsofanthropomorphicrobotsonthebasisoftheuseofmotionsoftheclutchaxisalongthelinearsurfacelimitingthebodyangleofservice |