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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| Format: | Article |
| Language: | English |
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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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| _version_ | 1832570716738813952 |
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| author | F. N. Pritykin |
| author_facet | F. N. Pritykin |
| author_sort | F. N. Pritykin |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-91e2a204a0014dd0950d108245bd42fe |
| institution | Kabale University |
| issn | 1813-8225 2541-7541 |
| language | English |
| publishDate | 2022-04-01 |
| publisher | Omsk State Technical University, Federal State Autonoumos Educational Institution of Higher Education |
| record_format | Article |
| series | Омский научный вестник |
| spelling | doaj-art-91e2a204a0014dd0950d108245bd42fe2025-02-02T14:23:43ZengOmsk State Technical University, Federal State Autonoumos Educational Institution of Higher EducationОмский научный вестник1813-82252541-75412022-04-012 (182)5910.25206/1813-8225-2022-182-5-9Study of kinematic parameters of android robot in automated synthesis of motions on velocity vectorF. N. Pritykin0https://orcid.org/0000-0001-8081-6840Omsk State Technical UniversityThe 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.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..pdfmechanisms of manipulatorsinstantaneous states of mechanismsvector of generalized speedscomputer simulation of robot motionsroboticsoutput link |
| spellingShingle | F. N. Pritykin Study of kinematic parameters of android robot in automated synthesis of motions on velocity vector Омский научный вестник mechanisms of manipulators instantaneous states of mechanisms vector of generalized speeds computer simulation of robot motions robotics output link |
| title | Study of kinematic parameters of android robot in automated synthesis of motions on velocity vector |
| title_full | Study of kinematic parameters of android robot in automated synthesis of motions on velocity vector |
| title_fullStr | Study of kinematic parameters of android robot in automated synthesis of motions on velocity vector |
| title_full_unstemmed | Study of kinematic parameters of android robot in automated synthesis of motions on velocity vector |
| title_short | Study of kinematic parameters of android robot in automated synthesis of motions on velocity vector |
| title_sort | study of kinematic parameters of android robot in automated synthesis of motions on velocity vector |
| topic | mechanisms of manipulators instantaneous states of mechanisms vector of generalized speeds computer simulation of robot motions robotics output link |
| url | 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 |
| work_keys_str_mv | AT fnpritykin studyofkinematicparametersofandroidrobotinautomatedsynthesisofmotionsonvelocityvector |