Modeling the Kinematics of Two Robots with Denavit–Hartenberg Notation

• Autorzy: Burghardt Andrzej , Skwarek Wincenty

Identyfikatory

DOI

10.2478/amst-2019-0021

• Języki publikacji: EN

Abstrakty

EN

This article presents a description and methodology for building a kinematics model for the formation of twowheeled mobile robots transporting a beam using Denavit–Hartenberg notation. The simple and inverse kinematics tasks of this formation were solved. Solutions of kinematics tasks are presented in junction coordinates and global coordinates. The obtained results were simulated using the Matlab–Simulink package together with animation of the solution using a programmed emulator of robot work.

Słowa kluczowe

EN

robot formation; kinematics; Denavit-Hartenberg notation; transformation matrix

PL

formacja robota; kinematyka; notacja Denavita-Hartenberga; macierz transformacji

• Wydawca: Komitet Budowy Maszyn PAN ; De Gruyter
• Czasopismo: Advances in Manufacturing Science and Technology
• Rocznik: 2020
• Tom: Vol. 44, nr 4
• Strony: 121--128
• Opis fizyczny: Bibliogr. 9 poz., rys., wykr.

Twórcy

autor

Burghardt Andrzej

• Department of Applied Mechanics and Robotics, Rzeszow University of Technology

autor

Skwarek Wincenty

• John Paul II Technical and General Education School Complex No. 4, Jaslo, Poland

Bibliografia

• [1] C. Zielinski, P. Trojanek: Stigmergic cooperation of autonomous robots. J Mech. Mach. Theory, 44(2009), 656-670.
• [2] N. Miyata, et al.: Cooperative transport by multiple mobile robots in unknown static environments associated with real-time task assignment. IEEE Trans Rob Autom., 18(2002), 769-780.
• [3] K. Kosuge, et al.: Transportation of a single object by two decentralized-controlled nonholonomic mobile robots. Proc. IEEE Inter. Conf. Robotics and Automation, Leuven 1998, 4, 2989-2994.
• [4] Z.-D. Wang, E. Nakano, T. Matsukawa: Cooperating multiple behavior-based robots for object manipulation. Proc. 1994 IEEE/RSJ Inter Conf Intelligent Robots and Systems, Munich 1994, 1524-1531.
• [5] O. Khatib, et al.: Vehicle/arm coordination and multiple mobile manipulator decentralized cooperation. Proc. 1996 IEEE/RSJ Inter. Conf. Intelligent Robots and Systems, Osaka 1996, 546-553.
• [6] A. Burghardt, J. Giergiel: Kinematics of a robot formation in large-size transportation. Polish J. Environ. Stud., 20(2011), 41-45.
• [7] J. Giergiel, T. Buratowski: Kinematics modeling of the AmigoBot robot. Mech. Mech. Eng., 14(2010), 57-64.
• [8] A. Burghardt: Modelowanie i sterowanie formacją robotów. Oficyna Wydawnicza Politechniki Rzeszowskiej, Rzeszów 2013.
• [9] A. Burghardt, W. Skwarek: Robot group kinematics. Modell. Eng., 69(2019), 12-16.

Uwagi

Opracowanie rekordu ze środków MNiSW, umowa Nr 461252 w ramach programu "Społeczna odpowiedzialność nauki" - moduł: Popularyzacja nauki i promocja sportu (2021).