Research of the efficiency of software implementations of the algorithms of kinematics of the manipulator
Software implementations of mathematical simulation of direct task of kinematics, reverse task of kinematics and positioning capture of the robot allowed to conduct the study of convergence and accurate solution of inverse problem, selecting the initial values and the range of angles in the iteratio...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
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Peoples’ Friendship University of Russia (RUDN University)
2014-12-01
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| Series: | RUDN Journal of Engineering Research |
| Subjects: | |
| Online Access: | http://journals.rudn.ru/engineering-researches/article/view/4799 |
| _version_ | 1811173592285577216 |
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| author | - Shabnom Mustary A A Vnukov K O Prokhorov |
| author_facet | - Shabnom Mustary A A Vnukov K O Prokhorov |
| author_sort | - Shabnom Mustary |
| collection | DOAJ |
| description | Software implementations of mathematical simulation of direct task of kinematics, reverse task of kinematics and positioning capture of the robot allowed to conduct the study of convergence and accurate solution of inverse problem, selecting the initial values and the range of angles in the iteration and receive accuracy of iterations and reduce the angle, refine the algorithms. To better reflect the real position that is to capture the transformation matrix Т 6, the solution of the inverse task of kinematics is specified by a decision of the task of positioning. |
| first_indexed | 2024-04-10T17:49:28Z |
| format | Article |
| id | doaj.art-2bbd6b5847144ae08fbd5bcb72941126 |
| institution | Directory Open Access Journal |
| issn | 2312-8143 2312-8151 |
| language | English |
| last_indexed | 2024-04-10T17:49:28Z |
| publishDate | 2014-12-01 |
| publisher | Peoples’ Friendship University of Russia (RUDN University) |
| record_format | Article |
| series | RUDN Journal of Engineering Research |
| spelling | doaj.art-2bbd6b5847144ae08fbd5bcb729411262023-02-02T22:08:04ZengPeoples’ Friendship University of Russia (RUDN University)RUDN Journal of Engineering Research2312-81432312-81512014-12-010148554799Research of the efficiency of software implementations of the algorithms of kinematics of the manipulator- Shabnom Mustary0A A Vnukov1K O Prokhorov2Российский университет дружбы народовМосковский институт электроники и математики НИУ ВШЭМосковский институт электроники и математики НИУ ВШЭSoftware implementations of mathematical simulation of direct task of kinematics, reverse task of kinematics and positioning capture of the robot allowed to conduct the study of convergence and accurate solution of inverse problem, selecting the initial values and the range of angles in the iteration and receive accuracy of iterations and reduce the angle, refine the algorithms. To better reflect the real position that is to capture the transformation matrix Т 6, the solution of the inverse task of kinematics is specified by a decision of the task of positioning.http://journals.rudn.ru/engineering-researches/article/view/4799промышленный роботпрямая задача кинематикиобратная задача кинематикипозиционирование захватамоделированиеуправлениеточностьсходимость |
| spellingShingle | - Shabnom Mustary A A Vnukov K O Prokhorov Research of the efficiency of software implementations of the algorithms of kinematics of the manipulator RUDN Journal of Engineering Research промышленный робот прямая задача кинематики обратная задача кинематики позиционирование захвата моделирование управление точность сходимость |
| title | Research of the efficiency of software implementations of the algorithms of kinematics of the manipulator |
| title_full | Research of the efficiency of software implementations of the algorithms of kinematics of the manipulator |
| title_fullStr | Research of the efficiency of software implementations of the algorithms of kinematics of the manipulator |
| title_full_unstemmed | Research of the efficiency of software implementations of the algorithms of kinematics of the manipulator |
| title_short | Research of the efficiency of software implementations of the algorithms of kinematics of the manipulator |
| title_sort | research of the efficiency of software implementations of the algorithms of kinematics of the manipulator |
| topic | промышленный робот прямая задача кинематики обратная задача кинематики позиционирование захвата моделирование управление точность сходимость |
| url | http://journals.rudn.ru/engineering-researches/article/view/4799 |
| work_keys_str_mv | AT shabnommustary researchoftheefficiencyofsoftwareimplementationsofthealgorithmsofkinematicsofthemanipulator AT aavnukov researchoftheefficiencyofsoftwareimplementationsofthealgorithmsofkinematicsofthemanipulator AT koprokhorov researchoftheefficiencyofsoftwareimplementationsofthealgorithmsofkinematicsofthemanipulator |