Preferencje help
Widoczny [Schowaj] Abstrakt
Liczba wyników

Znaleziono wyników: 8

Liczba wyników na stronie
first rewind previous Strona / 1 next fast forward last
Wyniki wyszukiwania
help Sortuj według:

help Ogranicz wyniki do:
first rewind previous Strona / 1 next fast forward last
1
Content available The Matlab toolbox for modeling complex mechanisms
EN
In the paper, a new version of the Matlab toolbox for modeling and simulation of any mechanisms consisting of open kinematic chains is presented. This tool renders it possible to define any manipulator described by Denavit-Hartenberg parameters and then connect the mechanisms created in this way into one complex mechanism. The package can be used for a realistic visualization of robot motion necessary in research, didactic process or during design of a production cell. Available functions render it possible to show a realistic model of a mechanism based on both default and user defined appearance. The toolbox also provides a set of tools for performing simultaneous simulations of many robots and other objects in their workspace. An example illustrating new features of the toolbox, presenting modeling and motion simulating of human upper limb is also attached.
2
Content available remote Planning of sub-optimal collision-free trajectory for redundant manipulators
EN
A method of planning sub-optimal trajectory for a redundant manipulator working in the environment including obstacles is presented. The robot's task is to move the tool from a given initial to final position in the workspace. The motion of the manipulator is planned in order to minimize a manipulability measure for the purpose of avoiding manipulator singularities. The method is based on using the penalty function approach and a redundancy resolution at the acceleration level. The collision avoidance is accomplished by locally perturbing the manipulator motion in the neighborhoods of the obstacles. The proposed method allows real time computations. A computer example involving 4 DOF PUMA-like manipulator operating in three dimensional task space is also presented.
3
Content available remote The robot toolbox for matlab
EN
In the paper, a Matlab toolbox for modeling and simulation manipulators described by Denavit-Hartenberg parameters is presented. This package can be used to realistic visualization of robot motion necessary in research, didactic process or during design of a production cell. Available functions render it possible to show a realistic model of a mechanism easily based on DH parameters only. The toolbox also provides a set of tools for creating any polyhedrons and functions to manipulate them in 3D space. Using those objects it is possible to create the appearance of the manipulator and its workspace. Functions implementing classical methods of trajectory planning in configuration space allow calculation of manipulator trajectory which can be shown as an animation. The main functions and computer examples illustrating the features of this toolbox are presented.
4
Content available remote Planning of a collision-free trajectory for multiple manipulators
EN
In this paper, a global method is presented in order to solve the task of trajectories generation for multiple manipulators operating in the common workspace including moving obstacles. The task of manipulators is to follow by their end effectors the geometric paths given in a task space. The dynamics of the manipulators is taken into consideration. The constraints imposed on controls and state inequality constraints resulting from collision avoidance of a moving obstacle with manipulator links are considered. A final time of the task performance is not fixed. This task is solved based on the calculus of variations. A computer example involving two planar redundant manipulators of three revolute kinematic pairs is presented.
5
Content available remote Collision-free sub-optimal trajectory planning of the redundant manipulators
EN
The paper presents a method of planning a sub-optimal collision-free trajectory for a redundant manipulator. The path of the end-effector is defined as a curve that can be parameterized by any scaling parameter. The method is based on penalty function approach and a redundancy resolution at the acceleration level. Constraints connected with the existence of mechanical limits for manipulator configuration and control constraints have been considered. The motion of the manipulator is planned in order to minimize a manipulability measure for the purpose of avoiding manipulator singularities. A computer example involving 4 a DOF PUMA-like manipulator operating in a three dimensional task space is also presented.
6
Content available remote Sub-optimal trajectory planning of the redundant manipulators
EN
The paper presents a method of planning a sub-optimal trajectory for a redundant manipulator subject to control constraints. The method is based on using the penalty function approach and scaling the robot dynamic equations to satisfy actuator constraints and allows real time computations. A computer example involving a spatial redundant manipulator of four revolute kinematics pairs is also presented.
PL
W pracy przedstawiono metodę planowania bezkolizyjnych trajektorii manipulatorów redundantnych w przypadku, gdy zadana jest ścieżka efektora. W rozwiązaniu zostały uwzględnione różnego rodzaju ograniczenia: konstrukcyjne oraz wynikające z możliwości układów napędowych. Zadanie to rozwiązano, wykorzystując metody wewnętrznych funkcji kary, rozkładu redundancji na poziomie przyspieszeń oraz skalowania równań dynamiki manipulatora. Zaproponowana metoda rozwiązania jest efektywna obliczeniowo i znajduje rozwiązania spełniające przyjęte ograniczenia, co potwierdzają wyniki symulacji komputerowych.
EN
A method of planning sub-optimal collision-free motion redundant manipulator subject to effector's movement constraint is presented. Various kinds of constraints are taken into account: mechanical constraints and control constraints. This problem has been solved using penalty function approach, redundancy resolution and scaling the robot dynamic equation. The proposed method is computationally efficient. It produces the solutions that fulfil all constraints.
8
Content available remote Planowanie suboptymalnych trajektorii manipulatorów redundantnych
PL
W opracowaniu przedstawiono metodę planowania bezkolizyjnych trajektorii dla manipulatorów redundantnych. Zadanie to rozwiązano wykorzystując metody wewnętrznych funkcji kary oraz skalowania równań dynamiki manipulatora. Zaproponowana metoda rozwiązania jest efektywna obliczeniowo. Do opracowania dołączony został przykład planowania trajektorii trójczłonowego manipulatora planarnego pracującego w przestrzeni roboczej zawierającej przeszkody.
EN
A method of planning sub-optimal collision-free motion for redundant manipulator is presented. It is based on using penalty function approach and scaling the robot dynamic equation to satisfy actuator constraints. The proposed method allows real time computations. A computer example involving a planar redundant manipulator of three revolute kinematics pairs which operates in a work space with obstacles, is also presented.
first rewind previous Strona / 1 next fast forward last
JavaScript jest wyłączony w Twojej przeglądarce internetowej. Włącz go, a następnie odśwież stronę, aby móc w pełni z niej korzystać.