Study of kinematic parameters of android robot in automated synthesis of motions on velocity vector
The modernization of the method of synthesis of motions of manipulators by speed vector allows to exclude motions the emergence of dead ends in the process of computer simulation. The developed algorithm is based on the use of a database characterising the values of kinematic parameters that s...
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| Main Author: | |
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| Format: | Article |
| Language: | English |
| Published: |
Omsk State Technical University, Federal State Autonoumos Educational Institution of Higher Education
2022-04-01
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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/2022/%E2%84%96%202%20(182)%20(%D0%9E%D0%9D%D0%92)/5-9%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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| Summary: | The modernization of the method of synthesis of
motions of manipulators by speed vector allows to
exclude motions the emergence of dead ends in
the process of computer simulation. The developed
algorithm is based on the use of a database
characterising the values of kinematic parameters that
specify the permissible instantaneous states of the
mechanism of the manipulator at different positions.
The graphical representation of the hypersurface of the
reflective relationship of the specified parameters from
the values of the generalized coordinates is made. On
the basis of this, a method for determining the above
kinematic parameters is proposed, which makes it
possible to reduce the time for calculating intermediate
configurations on a given trajectory of the output link
and to eliminate the occurrence of deadlock situations. |
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| ISSN: | 1813-8225 2541-7541 |