Generation of program trajectories for robotic manipulators of point contact welding in the workspace with obstacles
New effective algorithms for generating paths of robotic manipulators for point-contact welding were proposed. They are based on the statistical model of the configuration space. Proposed algorithms, in contrast to the known ones, allow to take into account effectively geometric characteristics of t...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | Russian |
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Educational institution «Belarusian State University of Informatics and Radioelectronics»
2019-06-01
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| Series: | Doklady Belorusskogo gosudarstvennogo universiteta informatiki i radioèlektroniki |
| Subjects: | |
| Online Access: | https://doklady.bsuir.by/jour/article/view/915 |
| _version_ | 1797881056341262336 |
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| author | M. M. Kozhevnikov O. A. Chumakov I. E. Ilushin A. V. Hospad |
| author_facet | M. M. Kozhevnikov O. A. Chumakov I. E. Ilushin A. V. Hospad |
| author_sort | M. M. Kozhevnikov |
| collection | DOAJ |
| description | New effective algorithms for generating paths of robotic manipulators for point-contact welding were proposed. They are based on the statistical model of the configuration space. Proposed algorithms, in contrast to the known ones, allow to take into account effectively geometric characteristics of the robotic complexes, kinematic and spatial limits, as well as the limits of the welding technology. The effectiveness of the developed algorithms confirmed by the results of testing in the experimental simulation tools. |
| first_indexed | 2024-04-10T03:12:58Z |
| format | Article |
| id | doaj.art-050f352ef2fc4c0f963cbd31ee8a7152 |
| institution | Directory Open Access Journal |
| issn | 1729-7648 |
| language | Russian |
| last_indexed | 2024-04-10T03:12:58Z |
| publishDate | 2019-06-01 |
| publisher | Educational institution «Belarusian State University of Informatics and Radioelectronics» |
| record_format | Article |
| series | Doklady Belorusskogo gosudarstvennogo universiteta informatiki i radioèlektroniki |
| spelling | doaj.art-050f352ef2fc4c0f963cbd31ee8a71522023-03-13T07:33:17ZrusEducational institution «Belarusian State University of Informatics and Radioelectronics»Doklady Belorusskogo gosudarstvennogo universiteta informatiki i radioèlektroniki1729-76482019-06-01073239914Generation of program trajectories for robotic manipulators of point contact welding in the workspace with obstaclesM. M. Kozhevnikov0O. A. Chumakov1I. E. Ilushin2A. V. Hospad3Mogilev state university of food technologiesBelarusian state university of informatics and radioelectronicsMogilev state university of food technologiesMogilev state university of food technologiesNew effective algorithms for generating paths of robotic manipulators for point-contact welding were proposed. They are based on the statistical model of the configuration space. Proposed algorithms, in contrast to the known ones, allow to take into account effectively geometric characteristics of the robotic complexes, kinematic and spatial limits, as well as the limits of the welding technology. The effectiveness of the developed algorithms confirmed by the results of testing in the experimental simulation tools.https://doklady.bsuir.by/jour/article/view/915robotic-manipulatoralgorithms for controlweldingconfiguration space |
| spellingShingle | M. M. Kozhevnikov O. A. Chumakov I. E. Ilushin A. V. Hospad Generation of program trajectories for robotic manipulators of point contact welding in the workspace with obstacles Doklady Belorusskogo gosudarstvennogo universiteta informatiki i radioèlektroniki robotic-manipulator algorithms for control welding configuration space |
| title | Generation of program trajectories for robotic manipulators of point contact welding in the workspace with obstacles |
| title_full | Generation of program trajectories for robotic manipulators of point contact welding in the workspace with obstacles |
| title_fullStr | Generation of program trajectories for robotic manipulators of point contact welding in the workspace with obstacles |
| title_full_unstemmed | Generation of program trajectories for robotic manipulators of point contact welding in the workspace with obstacles |
| title_short | Generation of program trajectories for robotic manipulators of point contact welding in the workspace with obstacles |
| title_sort | generation of program trajectories for robotic manipulators of point contact welding in the workspace with obstacles |
| topic | robotic-manipulator algorithms for control welding configuration space |
| url | https://doklady.bsuir.by/jour/article/view/915 |
| work_keys_str_mv | AT mmkozhevnikov generationofprogramtrajectoriesforroboticmanipulatorsofpointcontactweldingintheworkspacewithobstacles AT oachumakov generationofprogramtrajectoriesforroboticmanipulatorsofpointcontactweldingintheworkspacewithobstacles AT ieilushin generationofprogramtrajectoriesforroboticmanipulatorsofpointcontactweldingintheworkspacewithobstacles AT avhospad generationofprogramtrajectoriesforroboticmanipulatorsofpointcontactweldingintheworkspacewithobstacles |