Automated Robotic System with Five Degrees of Freedom
In paper develops and studies a mathematical model of an industrial robot with five degrees of freedom. The kinematic scheme of the robot is determined and the development of a mathematical model is performed using the matrix method and the Lagrange matrix dynamic equations. The study of the model i...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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FRUCT
2019-11-01
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| Series: | Proceedings of the XXth Conference of Open Innovations Association FRUCT |
| Subjects: | |
| Online Access: | https://fruct.org/publications/fruct25/files/Iva.pdf
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| _version_ | 1819227662621605888 |
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| author | Sergei Ivanov Tatiana Zudilova Irina Osetrova Igor Anantchenko Andrei Mikalauskas |
| author_facet | Sergei Ivanov Tatiana Zudilova Irina Osetrova Igor Anantchenko Andrei Mikalauskas |
| author_sort | Sergei Ivanov |
| collection | DOAJ |
| description | In paper develops and studies a mathematical model of an industrial robot with five degrees of freedom. The kinematic scheme of the robot is determined and the development of a mathematical model is performed using the matrix method and the Lagrange matrix dynamic equations. The study of the model is performed using the method of polynomial transformations. As a result of the analysis of the mathematical model, generalized coordinates, velocities and accelerations for the links of the robot are obtained. The spatial trajectory of the robot's gripper relative to the fixed base of the stand in the initial coordinate system is presented. The developed mathematical model of the robot allows you to determine the main dynamic characteristics of the robot, as well as the necessary generalized forces created by the drive links to move the robot's gripper to the selected point. This model allows the development of automated robotic systems and can be used in robot control systems with five degrees of freedom. |
| first_indexed | 2024-12-23T10:44:57Z |
| format | Article |
| id | doaj.art-34881d406be54ec9bca0e5d038e533df |
| institution | Directory Open Access Journal |
| issn | 2305-7254 2343-0737 |
| language | English |
| last_indexed | 2024-12-23T10:44:57Z |
| publishDate | 2019-11-01 |
| publisher | FRUCT |
| record_format | Article |
| series | Proceedings of the XXth Conference of Open Innovations Association FRUCT |
| spelling | doaj.art-34881d406be54ec9bca0e5d038e533df2022-12-21T17:50:03ZengFRUCTProceedings of the XXth Conference of Open Innovations Association FRUCT2305-72542343-07372019-11-0162225139145Automated Robotic System with Five Degrees of FreedomSergei Ivanov0Tatiana Zudilova1Irina Osetrova2Igor Anantchenko3Andrei Mikalauskas4ITMO National Research University (ITMO University), Saint Petersburg, RussianITMO National Research University (ITMO University), Saint Petersburg, RussianITMO National Research University (ITMO University), Saint Petersburg, RussianITMO National Research University (ITMO University), Saint Petersburg, RussianITMO National Research University (ITMO University), Saint Petersburg, RussianIn paper develops and studies a mathematical model of an industrial robot with five degrees of freedom. The kinematic scheme of the robot is determined and the development of a mathematical model is performed using the matrix method and the Lagrange matrix dynamic equations. The study of the model is performed using the method of polynomial transformations. As a result of the analysis of the mathematical model, generalized coordinates, velocities and accelerations for the links of the robot are obtained. The spatial trajectory of the robot's gripper relative to the fixed base of the stand in the initial coordinate system is presented. The developed mathematical model of the robot allows you to determine the main dynamic characteristics of the robot, as well as the necessary generalized forces created by the drive links to move the robot's gripper to the selected point. This model allows the development of automated robotic systems and can be used in robot control systems with five degrees of freedom.https://fruct.org/publications/fruct25/files/Iva.pdf mathematical modelindustrial robotfive degrees freedommatrix methoddynamic characteristics |
| spellingShingle | Sergei Ivanov Tatiana Zudilova Irina Osetrova Igor Anantchenko Andrei Mikalauskas Automated Robotic System with Five Degrees of Freedom Proceedings of the XXth Conference of Open Innovations Association FRUCT mathematical model industrial robot five degrees freedom matrix method dynamic characteristics |
| title | Automated Robotic System with Five Degrees of Freedom |
| title_full | Automated Robotic System with Five Degrees of Freedom |
| title_fullStr | Automated Robotic System with Five Degrees of Freedom |
| title_full_unstemmed | Automated Robotic System with Five Degrees of Freedom |
| title_short | Automated Robotic System with Five Degrees of Freedom |
| title_sort | automated robotic system with five degrees of freedom |
| topic | mathematical model industrial robot five degrees freedom matrix method dynamic characteristics |
| url | https://fruct.org/publications/fruct25/files/Iva.pdf
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| work_keys_str_mv | AT sergeiivanov automatedroboticsystemwithfivedegreesoffreedom AT tatianazudilova automatedroboticsystemwithfivedegreesoffreedom AT irinaosetrova automatedroboticsystemwithfivedegreesoffreedom AT igoranantchenko automatedroboticsystemwithfivedegreesoffreedom AT andreimikalauskas automatedroboticsystemwithfivedegreesoffreedom |