Tytuł artykułu
Autorzy
Wybrane pełne teksty z tego czasopisma
Identyfikatory
Warianty tytułu
Języki publikacji
Abstrakty
The aim of this paper is to present an algorithm for the determination of co-ordinates of inertia tensors of manipulator links and objects manipulated, which employs homogeneous transformations. A division of a manipulator link (an object manipulated) and local systems of reference, which correspond to this division, have been introduced. An introduction of additional local systems of reference allows for their most advantageous orientation in order to calculate the co-ordinates of inertia tensors of parts and elements, whose forms and shapes often cause serious problems during the calculation of inertia tensors with the traditional method. In order to transform geometrical dimensions of solid bodies and moments of inertia, an application of matrices of homogenous transformations, typical of the description of manipulator kinematics, has been suggested. Owing to the employment of homogenous transformations and their mappings, the proposed algorithm makes the determination of co-ordinates of inertia tensors much easier, especially in the case their shape is complex.
Czasopismo
Rocznik
Tom
Strony
138--159
Opis fizyczny
Bibliogr. 11 poz.
Twórcy
autor
autor
- Division of Dynamics, Technical University of Lodz Stefanowskiego 1/15, 90-924 Lodz, Poland, przeszum@p.lodz.pl
Bibliografia
- [1] Armstrong B., Khatib O., Burdick J.: The explicit dynamic model and inertia parameters of the PUMA 560 arm. Proc. of the IEEE, Int. Conference on Robotics and Automation, San Francisco, (1986), 510-518.
- [2] Craig J.J.: Introduction to robotics, Mechanics and control, WNT, Warsaw (1993), Poland.
- [3] Leyko J.: Dynamics of material systems, PWN, Warsaw, Poland.
- [4] Morecki A., Knapczyk J.: Fundamentals of robotics, Theory and elements of manipulators and robots, WNT, Warsaw (1999) , Poland.
- [5] Paul R.P.: Robot manipulator. Mathematics, Programming and Control, MIT Press, Cambridge M.A., (1981).
- [6] Sciavicco L., Siciliano B.: Modeling and control of robot manipulators. New York, McGraw-Hill Comp., (1996).
- [7] Spong M.W., Vidyasagar M.: Robot dynamics and control. New York, J. Wiley, (1989).
- [8] Szwedowicz J.: Analysis of dynamics of the manipulator with flexible links. Ph.D. Dissertation, Gdansk Technical University, (1991), Poland.
- [9] Dawson D.M., Bridges M.M, Qu Z.: Nonlinear control of robotic systems for environmental waste and restoration, Prentice Hall Inc., (1995).
- [10] Vukobratovi M.: Dynamics of manipulation robots - theory and application, (1992).
- [11] Stiquito, Conrad J. M., Mills J. W.: Advanced experiments with a simple and inexpensive robot, Los Alamitos, IEEE Comp. Society, (1998).
Typ dokumentu
Bibliografia
Identyfikator YADDA
bwmeta1.element.baztech-article-LOD5-0006-0011