Mathematical models for base calibration in industrial robots

Krakhmalev, Oleg; Petreshin, Dmitriy; Fedonin, Oleg

doi:10.3103/s1068798x17110089

Cited by 8 publications

(4 citation statements)

References 3 publications

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“…Applied scientific results published by the authors earlier will be taken into account in subsequent developments of automated systems [30][31][32][33][34][35][36][37]. It is planned to develop its vision system based on image analysis using an artificial neural network and selection of optimal trajectories of robot gripper movement based on the application of the genetic algorithm.…”

Section: Conceptmentioning

confidence: 99%

Robotic Complex for Harvesting Apple Crops

et al. 2022

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The article deals with the concept of building an automated system for the harvesting of apple crops. This system is a robotic complex mounted on a tractor cart, including an industrial robot and a packaging system with a container for fruit collection. The robot is equipped with a vacuum gripper and a vision system. A generator for power supply, a vacuum pump for the gripper and an equipment control system are also installed on the cart. The developed automated system will have a high degree of reliability that meets the requirements of operation in the field.

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Section: Conceptmentioning

confidence: 99%

Robotic Complex for Harvesting Apple Crops

et al. 2022

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“…where A (i-1)i -transformation matrix of homogeneous coordinates from the system O i to the system O (i-1) , having dimensions of 4 × 4 [18,19]. The matrix A 0k underexpression (1) will have the form:…”

Section: Problem Statementmentioning

confidence: 99%

“…Such deviations do not change as the robots move. There are unique methods for their correction [18,19]. Changing geometric deviations in the joints of manipulation robots are, as a rule, small elastic deformations, leading to a displacement of the joints relative to their undeformed positions.…”

Section: Introductionmentioning

confidence: 99%

Mathematics Model for 6-DOF Joints Manipulation Robots

Krakhmalev

Gataullin

et al. 2021

Mathematics

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A universal solution to an applied problem related to the study of deviations occurring in the joints of manipulation robots, for example, due to elastic deformations or gaps in them, is proposed. A mathematical (dynamic) model obtained by the Lagrange–Euler method is presented, making it possible to investigate such deviations. Six generalized coordinates, three linear and three angulars, were used to describe the variations of each joint in the dynamic model. This made it possible to introduce into consideration joints with six degrees of freedom (6-DOF joints). In addition, mathematical models for external forces acting on the links of manipulation robots are presented. When composing matrices of coefficients of equations of motion, elements identically equal to zero were excluded, which significantly increased the computational efficiency of these equations. The dynamic model based on the obtained equations can be used in the computer simulation of manipulation robots.

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“…Classes that define the structure of the corresponding objects can be created using object-oriented programming languages, for example, C++, and must describe their corresponding objects following Expressions (1)-( 6) [19][20][21][22][23][24].…”

Section: Q Nmentioning

confidence: 99%

Parallel Computational Algorithm for Object-Oriented Modeling of Manipulation Robots

et al. 2021

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An algorithm for parallel calculations in a dynamic model of manipulation robots obtained by the Lagrange–Euler method is developed. Independent components were identified in the structure of the dynamic model by its decomposition. Using the technology of object-oriented programming, classes corresponding to the structures of the selected components of the dynamic model were described. The algorithmization of parallel computing is based on the independence of the calculation of objects of individual classes and the sequence of matrix operations. The estimation of the execution time of parallel algorithms, the resulting acceleration, and the efficiency of using processors is given.

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Mathematical models for base calibration in industrial robots

Cited by 8 publications

References 3 publications

Robotic Complex for Harvesting Apple Crops

Robotic Complex for Harvesting Apple Crops

Mathematics Model for 6-DOF Joints Manipulation Robots

Parallel Computational Algorithm for Object-Oriented Modeling of Manipulation Robots

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