Wyniki wyszukiwania - Biblioteka Nauki

Nowa wersja platformy, zawierająca wyłącznie zasoby pełnotekstowe, jest już dostępna.
Przejdź na https://bibliotekanauki.pl

Ograniczanie wyników

Znaleziono wyników: 2

Liczba wyników na stronie

Wyniki wyszukiwania

Sortuj według:

Ogranicz wyniki do:

Vibrations Induced During a Stability Loss of Periodic Trajectories of the Manipulator

100%

Szumiński P. , Kapitaniak T.

Machine Dynamics Problems

2004

tom Vol. 28, No. 2

65-85

We present how to avoid dangerous situations that occur during a robot periodic motion and are caused by different kinds of vibrations. Theoretical analysis of stability regions of nonlinear and linearized system and of the ways of inducing vibrations during a stability loss of periodic trajectories is developed. For practical control of motion a common part of areas of stability received for nonlinear and using linearized Poincare map can be taking into considerations. The areas of stability are identificated by the bifurcation diagrams and Poincare maps. Stability regions of periodic trajectories as a function of varying parameters of the system are investigated . As a practical tool for the control of stability, a spectrum of Lyapunov exponents is proposed. To illustrate our method theoretically and numerically, a model of the RRP-type manipulator has been considered.

Determination of inertia tensor co-ordinates of manipulators on the basis of local matrices of homogeneous transformations

100%

Szumiński P. , Kapitaniak T.

tom Vol. 10, nr 1

138-159

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.