Measuring robot kinematics description and its workspace
Text deals with 6 degree of freedom measuring robot kinematics description enabling manipulation with measuring effector in 3D space. Mentioned description flowing from Denavit- Hartenberg notation for serial ordering of ideally stiff bodies connected by kinematic pairs, makes possible to create com...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
EDP Sciences
2016-01-01
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| Series: | MATEC Web of Conferences |
| Online Access: | http://dx.doi.org/10.1051/matecconf/20167602027 |
| _version_ | 1818963095045799936 |
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| author | Úředníček Zdeněk Drga Rudolf |
| author_facet | Úředníček Zdeněk Drga Rudolf |
| author_sort | Úředníček Zdeněk |
| collection | DOAJ |
| description | Text deals with 6 degree of freedom measuring robot kinematics description enabling manipulation with measuring effector in 3D space. Mentioned description flowing from Denavit- Hartenberg notation for serial ordering of ideally stiff bodies connected by kinematic pairs, makes possible to create complete set of transformation matrices for coordinates transformation from distal to the adjoining proximal Cartesian coordinate system, which enables to calculate the coordinates of arbitrary structure point by means of joints’ coordinates. Thenceforth it makes possible to determine standby and available robot workplace and mainly to perform the analysis of one fundamental control system problem of such robots- i. e. solving inverse kinematic problem. |
| first_indexed | 2024-12-20T12:39:46Z |
| format | Article |
| id | doaj.art-a9fb42bfc6634b58a2ade46bc1afd4bb |
| institution | Directory Open Access Journal |
| issn | 2261-236X |
| language | English |
| last_indexed | 2024-12-20T12:39:46Z |
| publishDate | 2016-01-01 |
| publisher | EDP Sciences |
| record_format | Article |
| series | MATEC Web of Conferences |
| spelling | doaj.art-a9fb42bfc6634b58a2ade46bc1afd4bb2022-12-21T19:40:30ZengEDP SciencesMATEC Web of Conferences2261-236X2016-01-01760202710.1051/matecconf/20167602027matecconf_cscc2016_02027Measuring robot kinematics description and its workspaceÚředníček Zdeněk0Drga Rudolf1UTB FAI ve Zlíně, Department of Automation and Control EngineeringUTB FAI ve Zlíně, Department of Security EngineeringText deals with 6 degree of freedom measuring robot kinematics description enabling manipulation with measuring effector in 3D space. Mentioned description flowing from Denavit- Hartenberg notation for serial ordering of ideally stiff bodies connected by kinematic pairs, makes possible to create complete set of transformation matrices for coordinates transformation from distal to the adjoining proximal Cartesian coordinate system, which enables to calculate the coordinates of arbitrary structure point by means of joints’ coordinates. Thenceforth it makes possible to determine standby and available robot workplace and mainly to perform the analysis of one fundamental control system problem of such robots- i. e. solving inverse kinematic problem.http://dx.doi.org/10.1051/matecconf/20167602027 |
| spellingShingle | Úředníček Zdeněk Drga Rudolf Measuring robot kinematics description and its workspace MATEC Web of Conferences |
| title | Measuring robot kinematics description and its workspace |
| title_full | Measuring robot kinematics description and its workspace |
| title_fullStr | Measuring robot kinematics description and its workspace |
| title_full_unstemmed | Measuring robot kinematics description and its workspace |
| title_short | Measuring robot kinematics description and its workspace |
| title_sort | measuring robot kinematics description and its workspace |
| url | http://dx.doi.org/10.1051/matecconf/20167602027 |
| work_keys_str_mv | AT urednicekzdenek measuringrobotkinematicsdescriptionanditsworkspace AT drgarudolf measuringrobotkinematicsdescriptionanditsworkspace |