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Preprints of the Keldysh Institute of Applied Mathematics, 2017, 047, 36 pp.
DOI: https://doi.org/10.20948/prepr-2017-47 (Mi ipmp2263) 		 
This article is cited in 2 scientific papers (total in 2 papers)

Control algorithms for manipulator's grab motions

N. D. Beklemishev, A. K. Platonov, S. M. Sokolov, O. V. Trifonov
Full-text PDF (1626 kB) Citations (2)
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DOI: https://doi.org/10.20948/prepr-2017-47
Abstract: Paper describes three basic functions used in a work-area motion formation algorithms for a robotic arm with object in its grab. An implementation of those functions for a robotic arm with kinematics complicated by a lateral mount of the grab is under consideration. Operators of vector algorithms for solving direct and inverse kinematic problems are developed. Methods for resolving robotic arm configuration ambiguity are defined. Algorithms for grab with video camera are described.
Keywords: robots, manipulator's kinematic, motion making function, geometric operators, vector algebra operators extending, video guidance algorithms.
Funding agency Grant number
Russian Foundation for Basic Research 15-08-06431_а
The studies are carried out in RFBR grant № 15-08-06431.
Document Type: Preprint
Language: Russian
Citation: N. D. Beklemishev, A. K. Platonov, S. M. Sokolov, O. V. Trifonov, “Control algorithms for manipulator's grab motions”, Keldysh Institute preprints, 2017, 047, 36 pp.
Citation in format AMSBIB
\Bibitem{BekPlaSok17}
\by N.~D.~Beklemishev, A.~K.~Platonov, S.~M.~Sokolov, O.~V.~Trifonov
\paper Control algorithms for manipulator's grab motions
\jour Keldysh Institute preprints
\yr 2017
\papernumber 047
\totalpages 36
\mathnet{http://mi.mathnet.ru/ipmp2263}
\crossref{https://doi.org/10.20948/prepr-2017-47}
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  • https://www.mathnet.ru/eng/ipmp/y2017/p47
    • This publication is cited in the following 2 articles:
    Citing articles in Google Scholar: Russian citations, English citations
    Related articles in Google Scholar: Russian articles, English articles
    		Препринты Института прикладной математики им. М. В. Келдыша РАН
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    Full-text PDF :53
    References:21
     
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