A methodology of orthopaedic measurement arm workspace determination

• Autorzy: Kobierska A. , Podsędkowski L. , Rakowski P. , Rejmonczyk S. , Kaszowski J. , Olejniczak K. , Golasiński B. , Kaczmarek K.
• Języki publikacji: EN

Abstrakty

EN

This paper outlines general assumptions of work principle of displacement measuring arm that bases on accelerometers. Symbolic representation of arm’s kinematic structure is shown. Also, an analysis of construction correctness has been verified in terms of the effectiveness of using accelerometers to measure individual links displacements. A method of acquiring information on workspace is presented. The workspace has been determined in two variants: without considering last link orientation and for given orientation of that link. Paper also describes a determination method of increments values of angular displacements for individual links of the arm in terms of obtained proper results and rational computation time of workspace scanning algorithm. Finally, there is a presentation of method for determining a cuboid space for arm accuracy and repeatability measurement in XYZ coordinate system.

Słowa kluczowe

EN

arm kinematic; workspace; accelerometers

PL

kinematyka ręki; przestrzeń robocza; akcelerometry

• Wydawca: Wydawnictwo Politechniki Łódzkiej
• Czasopismo: Mechanics and Mechanical Engineering
• Rocznik: 2017
• Tom: Vol. 21, nr 2
• Strony: 185--191
• Opis fizyczny: Bibliogr. 6 poz., il. (w tym kolor.)

Twórcy

autor

Kobierska A.

• Institute of Machine Tools and Production Engineering, Lodz University of Technology, Stefanowskiego 1/15, 90-924 Łódź, Poland

autor

Podsędkowski L.

• Institute of Machine Tools and Production Engineering, Lodz University of Technology, Stefanowskiego 1/15, 90-924 Łódź, Poland

autor

Rakowski P.

• Institute of Machine Tools and Production Engineering, Lodz University of Technology, Stefanowskiego 1/15, 90-924 Łódź, Poland

autor

Rejmonczyk S.

• Institute of Machine Tools and Production Engineering, Lodz University of Technology, Stefanowskiego 1/15, 90-924 Łódź, Poland

autor

Kaszowski J.

• Institute of Machine Tools and Production Engineering, Lodz University of Technology, Stefanowskiego 1/15, 90-924 Łódź, Poland

autor

Olejniczak K.

• Institute of Machine Tools and Production Engineering, Lodz University of Technology, Stefanowskiego 1/15, 90-924 Łódź, Poland

autor

Golasiński B.

• Institute of Machine Tools and Production Engineering, Lodz University of Technology, Stefanowskiego 1/15, 90-924 Łódź, Poland

autor

Kaczmarek K.

• Institute of Machine Tools and Production Engineering, Lodz University of Technology, Stefanowskiego 1/15, 90-924 Łódź, Poland

Bibliografia

• [1] Kobierska, A, Podsędkowski, L., Poryzał, P. and Rakowski, P.: Pomiar zmiany położenia z wykorzystaniem czujników MEMS przyspieszenia, prędkości kątowej i magnetycznych.
• [2] Cheng, P. and Oelmann, B.: Joint-Angle Measurement Using Accelerometers and Gyroscopes - A Survey, IEEE Transactions On Instrumentation And Measurement, 59, 2, 2010.
• [3] El-Gohary, M. and McNames, J.: Human Joint Angle Estimation with Inertial Sensors and Validation with A Robot Arm, IEEE Transactions On Biomedical Engineering, 62, 7, 2015.
• [4] Quigley, M. et all: Low-cost Accelerometers for Robotic Manipulator Perception, The 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, 18-22, 2010.
• [5] Spong, M. W. and Vidyasagar, M.: Dynamika I sterowanie robotów, Wydawnictwo Naukowo-Techniczne.
• [6] Jezierski, E.: Dynamika Robotów, Wydawnictwo Naukowo-Techniczne.

Uwagi

Opracowanie ze środków MNiSW w ramach umowy 812/P-DUN/2016 na działalność upowszechniającą naukę (zadania 2017).