Determination of Position-Orientation Matrix for a Planar Parallel Topology Robot by Using the “Pair of Frames” Concept
The paper presents a method of determining the position-orientation matrix of the reference system attached to the characteristic point of a planar parallel topology robot, by using the “connexion” and “pair of frames” concepts. The kinematical scheme of robot’s guiding device mechanism of FP3+3•RTR...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
Editura Eftimie Murgu
2019-06-01
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| Series: | Robotica & Management |
| Subjects: | |
| Online Access: | http://robotica-management.uem.ro/fileadmin/Robotica/2019_1/RM_2019_1_Pag_14_Miclosina.pdf |
| _version_ | 1818925230735753216 |
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| author | Calin-Octavian Miclosina Ioan Halalae |
| author_facet | Calin-Octavian Miclosina Ioan Halalae |
| author_sort | Calin-Octavian Miclosina |
| collection | DOAJ |
| description | The paper presents a method of determining the position-orientation matrix of the reference system attached to the characteristic point of a planar parallel topology robot, by using the “connexion” and “pair of frames” concepts. The kinematical scheme of robot’s guiding device mechanism of FP3+3•RTR+MP3 type is shown, as well as the manner of choice of the frames attached to the links. In order to obtain the position-orientation matrix, the matrix calculus is accomplished. |
| first_indexed | 2024-12-20T02:37:55Z |
| format | Article |
| id | doaj.art-077c56b4c796411eb381f53eff043f91 |
| institution | Directory Open Access Journal |
| issn | 1453-2069 2359-9855 |
| language | English |
| last_indexed | 2024-12-20T02:37:55Z |
| publishDate | 2019-06-01 |
| publisher | Editura Eftimie Murgu |
| record_format | Article |
| series | Robotica & Management |
| spelling | doaj.art-077c56b4c796411eb381f53eff043f912022-12-21T19:56:23ZengEditura Eftimie MurguRobotica & Management1453-20692359-98552019-06-012411418Determination of Position-Orientation Matrix for a Planar Parallel Topology Robot by Using the “Pair of Frames” ConceptCalin-Octavian Miclosina0Ioan Halalae1“Eftimie Murgu” University of Resita“Eftimie Murgu” University of ResitaThe paper presents a method of determining the position-orientation matrix of the reference system attached to the characteristic point of a planar parallel topology robot, by using the “connexion” and “pair of frames” concepts. The kinematical scheme of robot’s guiding device mechanism of FP3+3•RTR+MP3 type is shown, as well as the manner of choice of the frames attached to the links. In order to obtain the position-orientation matrix, the matrix calculus is accomplished.http://robotica-management.uem.ro/fileadmin/Robotica/2019_1/RM_2019_1_Pag_14_Miclosina.pdfmatrix calculusposition-orientation matrixparallel topology robot |
| spellingShingle | Calin-Octavian Miclosina Ioan Halalae Determination of Position-Orientation Matrix for a Planar Parallel Topology Robot by Using the “Pair of Frames” Concept Robotica & Management matrix calculus position-orientation matrix parallel topology robot |
| title | Determination of Position-Orientation Matrix for a Planar Parallel Topology Robot by Using the “Pair of Frames” Concept |
| title_full | Determination of Position-Orientation Matrix for a Planar Parallel Topology Robot by Using the “Pair of Frames” Concept |
| title_fullStr | Determination of Position-Orientation Matrix for a Planar Parallel Topology Robot by Using the “Pair of Frames” Concept |
| title_full_unstemmed | Determination of Position-Orientation Matrix for a Planar Parallel Topology Robot by Using the “Pair of Frames” Concept |
| title_short | Determination of Position-Orientation Matrix for a Planar Parallel Topology Robot by Using the “Pair of Frames” Concept |
| title_sort | determination of position orientation matrix for a planar parallel topology robot by using the pair of frames concept |
| topic | matrix calculus position-orientation matrix parallel topology robot |
| url | http://robotica-management.uem.ro/fileadmin/Robotica/2019_1/RM_2019_1_Pag_14_Miclosina.pdf |
| work_keys_str_mv | AT calinoctavianmiclosina determinationofpositionorientationmatrixforaplanarparalleltopologyrobotbyusingthepairofframesconcept AT ioanhalalae determinationofpositionorientationmatrixforaplanarparalleltopologyrobotbyusingthepairofframesconcept |