A Technique for Configuring the Relative Program Movements of Robotic Systems with Two Arms

Autor:	E. I. Vorob’ev
Rok vydání:	2020
Předmět:	Three degrees of freedom Robotic systems Control theory Computer science Mechanical Engineering Carry (arithmetic) Six degrees of freedom Manipulator Safety Risk Reliability and Quality Industrial and Manufacturing Engineering
Zdroj:	Journal of Machinery Manufacture and Reliability. 49:273-279
ISSN:	1934-9394 1052-6188
Popis:	This article proposes a technique for coordinating the movements of operating links of two-armed robotic systems with six degrees of freedom. The technique is based on introducing relative positioning matrices for the output links of the mechanical arms and solving reverse problems of the relative manipulator positioning. Manipulators with three degrees of freedom are viewed as mechanical arms. The reverse problems of manipulator positioning are solved, whic allow making output manipulator links carry out preset relative movements as solid bodies.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::bcac59e94584c3b398bdb8ada48bd6be https://doi.org/10.3103/s1052618820040159 Zobrazit plný text záznamu Full text from SpringerLink