Manipulator End-Effector Position Control

Virgala, Ivan; Gmiterko, Alexander; Surovec, R.; Vacková, Martina; Prada, Erik; Kenderová, Mária

doi:10.1016/j.proeng.2012.09.571

Cited by 7 publications

(3 citation statements)

References 2 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…In connection with the design of robots, it is necessary to solve other related problems with sensor equipment [Kelemen 2021, Kelemenova 2021, Panda 2016, Peterka 2020, Zidek 2018, control systems [Kelemen 2014, Sapietova 2018, handling equipment [Mikova 2014] and effectors [Bulej 2018, Trojanova 2021, Virgala 2012, Virgala 2014, design of parts production [Jakubowski 2014], drive systems [Bozek 2021a,b, Peterka 2020, Nikitin 2020, and other relevant systems [Jakubowski 2014]. It is also necessary to address issues of energy balance and system efficiency [Kelemen 2012, Liptak 2018, Ostertag 2014, Pavlasek 2018, Pastor 2021, Pivarciova 2018, Pivarciova 2022, Saga 2020, Suder 2021, Virgala 2014, Virgala 2020a.…”

Section: Discussionmentioning

confidence: 99%

Biped Robot With Unconventional Kinematics

Virgala¹,

Kelemen²,

Kelemenová³

et al. 2022

MM SJ

Self Cite

View full text Add to dashboard Cite

The article deals with the design of a robot with an unconventional kinematic structure, which is able to vertically stabilize the position of the robot base for the placement of sensors and handling superstructures. The robot concept was designed to have as few actuators as possible. The robot's kinematics was solved for the purpose of simulating the robot's movement and implementation into the robot's control system.

show abstract

Section: Discussionmentioning

confidence: 99%

Biped Robot With Unconventional Kinematics

Virgala¹,

Kelemen²,

Kelemenová³

et al. 2022

MM SJ

Self Cite

View full text Add to dashboard Cite

show abstract

“…The theory of simple open kinematic chains has a direct application in the kinematic analysis of various manipulators and robots, which are often formed by the mentioned chains. We can decompose the motion of two bodies into a finite number of basic motions [Brat 1981, Stejskal 1996, Virgala 2012, Hroncova 2012, Mikova 2014, Serrano 2015, Xiong 2018]. The kinematic diagram of one of such manipulators is shown in…”

Section: Designed Concepts Of Robot Kinematicsmentioning

confidence: 99%

Robot Trajectory Planning

Hroncová¹,

SINCAK²,

MERVA³

et al. 2022

MM SJ

View full text Add to dashboard Cite

show abstract

“…In most cases, these systems cannot be solved analytically. Thus, various types of iterative numerical methods are used, most often employing the Jacobian [16][17][18][19][20][21]. In calculating the inverse function, the inability to solve the task stems from the (configuration) workspace limitation, delimited by the configuration itself and the mechanism's physical properties.…”

Section: Introductionmentioning

confidence: 99%

Inverse Kinematics Data Adaptation to Non-Standard Modular Robotic Arm Consisting of Unique Rotational Modules

et al. 2021

View full text Add to dashboard Cite

The paper describes the original robotic arm designed by our team kinematic design consisting of universal rotational modules (URM). The philosophy of modularity plays quite an important role when it comes to this mechanism since the individual modules will be the building blocks of the entire robotic arm. This is a serial kinematic chain with six degrees of freedom of unlimited rotation. It was modeled in three different environments to obtain the necessary visualizations, data, measurements, structural changes measurements and structural changes. In the environment of the CoppeliaSim Edu, it was constructed mainly to obtain the joints coordinates matching the description of a certain spatial trajectory with an option to test the software potential in future inverse task calculations. In Matlab, the model was constructed to check the mathematical equations in the area of kinematics, the model’s simulations of movements, and to test the numerical calculations of the inverse kinematics. Since the equipment at hand is subject to constant development, its model can also be found in SolidWorks. Thus, the model’s existence in those three environments has enabled us to compare the data and check the models’ structural designs. In Matlab and SolidWorks, we worked with the data imported on joints coordinates, necessitating overcoming certain problems related to calculations of the inverse kinematics. The objective was to compare the results, especially in terms of the position kinematics in Matlab and SolidWorks, provided the initial joint coordinate vector was the same.

show abstract

Manipulator End-Effector Position Control

Cited by 7 publications

References 2 publications

Biped Robot With Unconventional Kinematics

Biped Robot With Unconventional Kinematics

Robot Trajectory Planning

Inverse Kinematics Data Adaptation to Non-Standard Modular Robotic Arm Consisting of Unique Rotational Modules

Contact Info

Product

Resources

About