DocumentCode :
3178823
Title :
Manipulator synthesis on the given properties of working space. Application of polynomials with linear real parameter
Author :
Polyakov, Alexander ; Kolesova, Marina ; Kalinin, Mykhaylo ; Kramar, Vadym
Author_Institution :
Lab. of Biomech., Sevastopol Nat. Tech. Univ., Sevastopol, Ukraine
fYear :
2010
fDate :
10-13 Oct. 2010
Firstpage :
4325
Lastpage :
4332
Abstract :
In this work the algorithm and the results of a synthesis problem solving for three-links planar manipulator with anthropomorphous structure according to criterion of a minimum total volume of links movements is resulted at achievement by end effector of set of points in the set area of working space. Research of parameters space is made by the Sobol-Statnikov method. The algorithm of numerical solving of the nonlinear equations system of geometrical connections and kinematic criterion of quality is constructed taking into account properties of set of polynomials with linear real parameter. The results of problem solving are show that, from the point of view of the accepted criterion of quality, optimum relations between lengths of manipulator links depend on an area arrangement most often reached by end effector in working space.
Keywords :
control system synthesis; end effectors; manipulator kinematics; nonlinear equations; polynomials; Sobol-Statnikov method; anthropomorphous structure; end effector; kinematic criterion; linear real parameter; manipulator synthesis; nonlinear equations system; numerical solving; polynomials; synthesis problem solving; three-links planar manipulator; working space; manipulator; numerical method; parametrical synthesis; redundancy; workspace;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Systems Man and Cybernetics (SMC), 2010 IEEE International Conference on
Conference_Location :
Istanbul
ISSN :
1062-922X
Print_ISBN :
978-1-4244-6586-6
Type :
conf
DOI :
10.1109/ICSMC.2010.5641786
Filename :
5641786
Link To Document :
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