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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
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.
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.
Linking options:
https://www.mathnet.ru/eng/ipmp2263 https://www.mathnet.ru/eng/ipmp/y2017/p47
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Abstract page: | 156 | Full-text PDF : | 53 | References: | 21 |
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