Title :
Obtaining manipulators kinematic models from its formalised description
Author :
Yakovlev, Alexander ; Malyshenko, Alexander
Author_Institution :
Dept. of Integrated Comput. Control Syst., Tomsk Polytech. Univ. (TPU), Tomsk, Russia
Abstract :
The article provides an original method of formalised description of manipulator kinematic chains (MKC) as the basis for combining the whole complex of information on MKC required for the derivation of kinematic equations for the manipulator being described. Mathematical models of kinematics are an indispensable tool when designing robotic manipulator (RM) and robotic systems based on them. At the same time, as a rule, it is connected with a great number of geometrical descriptions and algebraic transformations requiring a significant labor input and potentially causing errors conditioned by human factor. The article provides examples of using computer programme, developed and officially registered, which automatically derives manipulator kinematic equations for commercial industrial robot.
Keywords :
kinematics; manipulators; robots; algebraic transformations; computer programme; formalised description; geometrical descriptions; kinematic equations; manipulators kinematic models; mathematical models; robotic manipulator; robotic systems; Joints; Kinematics; Manipulators; Mathematical model; Robot kinematics; Software; formalised description; joints; kinematic chain; links; manipulator;
Conference_Titel :
Control and Communications (SIBCON), 2015 International Siberian Conference on
Conference_Location :
Omsk
Print_ISBN :
978-1-4799-7102-2
DOI :
10.1109/SIBCON.2015.7147297