Research on the controller of a testbench / Triašio stalo valdiklio tyrimas
The article describes investigation into the controller of the 3 axis rotation table used for simulating complex trajectory motion. The mathematical model of the 3 axis rotation table is developed applying Denavit and Hartenberg’s (D-H) parameters. Graphical modelling, simulation and experimental re...
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| Format: | Article |
| Language: | English |
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Vilnius Gediminas Technical University
2012-04-01
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| Series: | Mokslas: Lietuvos Ateitis |
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| Online Access: | http://journals.vgtu.lt/index.php/MLA/article/view/4488 |
| _version_ | 1818567850711842816 |
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| author | Paulius Gustaitis |
| author_facet | Paulius Gustaitis |
| author_sort | Paulius Gustaitis |
| collection | DOAJ |
| description | The article describes investigation into the controller of the 3 axis rotation table used for simulating complex trajectory motion. The mathematical model of the 3 axis rotation table is developed applying Denavit and Hartenberg’s (D-H) parameters. Graphical modelling, simulation and experimental results are presented to verify the validity of the mathematical model of the 3 axis rotation table.
Santrauka
Nagrinėjamas triašio stalo su trimis sukamosiomis sąnaromis, skirto sudėtingų trajektorijų judesiui imituoti, valdiklis. Šis triašio stalo matematinis modelis, sudarytas taikant Denavito ir Hartenbergo parametrus, skirtas kinematikos uždaviniams spręsti, taip pat sudarytas eksperimentinis modelis. Atliktas kompiuterinis grafinis triašio stalo taško trajektorijos modeliavimas ir eksperimentinis realaus modelio tyrimas. Eksperimentiniai modeliavimo rezultatai palyginti su matematinio modeliavimo metu gautais rezultatais.
Reikšminiai žodžiai: judesio imitatorius, sukamoji sąnara, Denavito ir Hartenbergo parametrai, inversinė kinematika, triašis stalas, valdiklis. |
| first_indexed | 2024-12-14T06:28:38Z |
| format | Article |
| id | doaj.art-1f1050e48eb4457ab873f8d2e7027628 |
| institution | Directory Open Access Journal |
| issn | 2029-2341 2029-2252 |
| language | English |
| last_indexed | 2024-12-14T06:28:38Z |
| publishDate | 2012-04-01 |
| publisher | Vilnius Gediminas Technical University |
| record_format | Article |
| series | Mokslas: Lietuvos Ateitis |
| spelling | doaj.art-1f1050e48eb4457ab873f8d2e70276282022-12-21T23:13:35ZengVilnius Gediminas Technical UniversityMokslas: Lietuvos Ateitis2029-23412029-22522012-04-014110.3846/mla.2012.09377Research on the controller of a testbench / Triašio stalo valdiklio tyrimasPaulius Gustaitis0Vilniaus Gedimino technikos universitetasThe article describes investigation into the controller of the 3 axis rotation table used for simulating complex trajectory motion. The mathematical model of the 3 axis rotation table is developed applying Denavit and Hartenberg’s (D-H) parameters. Graphical modelling, simulation and experimental results are presented to verify the validity of the mathematical model of the 3 axis rotation table. Santrauka Nagrinėjamas triašio stalo su trimis sukamosiomis sąnaromis, skirto sudėtingų trajektorijų judesiui imituoti, valdiklis. Šis triašio stalo matematinis modelis, sudarytas taikant Denavito ir Hartenbergo parametrus, skirtas kinematikos uždaviniams spręsti, taip pat sudarytas eksperimentinis modelis. Atliktas kompiuterinis grafinis triašio stalo taško trajektorijos modeliavimas ir eksperimentinis realaus modelio tyrimas. Eksperimentiniai modeliavimo rezultatai palyginti su matematinio modeliavimo metu gautais rezultatais. Reikšminiai žodžiai: judesio imitatorius, sukamoji sąnara, Denavito ir Hartenbergo parametrai, inversinė kinematika, triašis stalas, valdiklis.http://journals.vgtu.lt/index.php/MLA/article/view/4488motion simulatorrotational jointDenavit-Hartenberg parametersinverse kinematics3 axis rotation tablecontroller |
| spellingShingle | Paulius Gustaitis Research on the controller of a testbench / Triašio stalo valdiklio tyrimas Mokslas: Lietuvos Ateitis motion simulator rotational joint Denavit-Hartenberg parameters inverse kinematics 3 axis rotation table controller |
| title | Research on the controller of a testbench / Triašio stalo valdiklio tyrimas |
| title_full | Research on the controller of a testbench / Triašio stalo valdiklio tyrimas |
| title_fullStr | Research on the controller of a testbench / Triašio stalo valdiklio tyrimas |
| title_full_unstemmed | Research on the controller of a testbench / Triašio stalo valdiklio tyrimas |
| title_short | Research on the controller of a testbench / Triašio stalo valdiklio tyrimas |
| title_sort | research on the controller of a testbench triasio stalo valdiklio tyrimas |
| topic | motion simulator rotational joint Denavit-Hartenberg parameters inverse kinematics 3 axis rotation table controller |
| url | http://journals.vgtu.lt/index.php/MLA/article/view/4488 |
| work_keys_str_mv | AT pauliusgustaitis researchonthecontrollerofatestbenchtriasiostalovaldikliotyrimas |