Kinematic Approximation of Robotic Manipulators

• Autorzy: Dulęba I.
• Języki publikacji: EN

Abstrakty

EN

A kinematic approximation of the nominal, reference kinematics of a manipulator is addressed. The approximation task leads to a minimax optimization problem. Some modifications facilitating the implementation of the algorithm in search spaces of high dimensionalities are presented. A sub-gradient mesh algorithm of solving the minimax task is given in detail. The approximation of the CYBOTECH manipulator with a ULB robot is provided based on the use of the Chebyshev metric. As an alternative, some measures of proximity of manipulators are also introduced.

Słowa kluczowe

EN

manipulator; kinematics; approximation; metrics; ULB robot

PL

manipulator; kinematyka; aproksymacja

• Wydawca: Oficyna Wydawnicza Uniwersytetu Zielonogórskiego
• Czasopismo: International Journal of Applied Mathematics and Computer Science
• Rocznik: 2000
• Tom: Vol. 10, no 3
• Strony: 605--622
• Opis fizyczny: Bibliogr. 14 poz., rys., tab.

Twórcy

autor

Dulęba I.

• Institute of Engineering Cybernetics Wroclaw University of Technology ul. Janiszewskiego 11/17, 50-372 Wroclaw, Poland,