The non-uniform covering approach to manipulator workspace assessment

Evtushenko, Yu. G.; Posypkin, Mikhail; Turkin, Andrei; Rybak, Larisa

doi:10.1109/eiconrus.2017.7910573

Cited by 12 publications

(4 citation statements)

References 9 publications

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“…The algorithm for converting a system of nonlinear equations, despite the smaller dimension of the system of equations, processes a larger number of possible solutions. To improve its efficiency it is proposed to modify formulae (8) to (9) and eliminate critical sections in subsequent studies.…”

Section: Simulation Resultsmentioning

confidence: 99%

“…The system includes 9 variables corresponding to the coordinates of the " vertices of the movable platform. To approximate a set of solutions of this system, an algorithm based on the method of nonuniform coverings [8][9] previously discussed in work [5] can be used to solve forward kinematics of a flat robot with three degrees of freedom. To accelerate its implementation, let us modify the algorithm using parallel computing.…”

Section: Fig 1 Hexapod Block Diagrammentioning

confidence: 99%

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Comparative analysis of the speed of concurrent algorithms in solving the forward kinematics of a hexapod robot

Malyshev

Pisarenko

Tereshchenko

2022

J. Phys.: Conf. Ser.

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The paper discusses the use of parallel computing on a central processing unit (CPU) to solve the forward kinematics of a parallel hexapod robot. The paper proposes two algorithms to solve the forward kinematics. The first is based on the direct use of the system of equations of kinematic relations of the mechanism. The approximation of a set of system solutions represents a problem of a nine-dimensional grade. The second approach is based on the approximation of a set of solutions to the system of inequalities of a three-dimensional grade. A software package for implementing the proposed algorithms was developed. The comparative analysis of the effect of parallel computing on the speed of the presented algorithms was carried out.

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Section: Simulation Resultsmentioning

confidence: 99%

Section: Fig 1 Hexapod Block Diagrammentioning

confidence: 99%

Comparative analysis of the speed of concurrent algorithms in solving the forward kinematics of a hexapod robot

Malyshev

Pisarenko

Tereshchenko

2022

J. Phys.: Conf. Ser.

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“…The proposed technique was tested on the example of approximating the solutions of direct kinematics problems for parallel manipulators structure [21,22].…”

Section: Theoremmentioning

confidence: 99%

“…Consider two instances of planar parallel manipulators. The first planar parallel manipulator [21] is shown in Figure 4 and consists of two links of variable length inter- connected and fixed on a fixed platform through hinges. The system of kinematic equations (and inequalities) for a given manipulator can be written as follows:…”

Section: Parallel Manipulatorsmentioning

confidence: 99%

On one approach to the approximation of solutions to the direct kinematics problem of parallel manipulators

Gorchakov

Mozolenko

2020

Open Computer Science

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Any real continuous bounded function of many variables is representable as a superposition of functions of one variable and addition. Depending on the type of superposition, the requirements for the functions of one variable differ. The article investigated one of the options for the numerical implementation of such a superposition proposed by Sprecher. The superposition was presented as a three-layer Feedforward neural network, while the functions of the first’s layer were considered as a generator of space-filling curves (Peano curves). The resulting neural network was applied to the problems of direct kinematics of parallel manipulators.

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Workspace Modelling of a Parallel Robot with Relative Manipulation Mechanisms Based on Optimization Methods

Malyshev

Rybak

Behera

et al. 2019

Robotics and Mechatronics

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The non-uniform covering approach to manipulator workspace assessment

Cited by 12 publications

References 9 publications

Comparative analysis of the speed of concurrent algorithms in solving the forward kinematics of a hexapod robot

Comparative analysis of the speed of concurrent algorithms in solving the forward kinematics of a hexapod robot

On one approach to the approximation of solutions to the direct kinematics problem of parallel manipulators

Workspace Modelling of a Parallel Robot with Relative Manipulation Mechanisms Based on Optimization Methods

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