Description of the manipulator robot's workspaces with three mobility degrees in the form of the logical expressions

Aron Abiluly BURLIBAY; Akambay Agybayuly BEISEMBAEV; Waldemar WOJCIK

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Description of the manipulator robot's workspaces with three mobility degrees in the form of the logical expressions

机译：以逻辑表达式的形式描述具有三个移动度的机械手机器人的工作空间

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摘要

This work considers problems of the manipulating robot working spaces description, which have three degrees of mobility. Depending on the limits of the generalized coordinates value changes by mobility degrees, there were achieved the descriptions of the manipulating robots working spaces in the form of logical expressions.%W pracy rozważany jest problem opisu przestrzeni roboczej manipulatora robota o trzech stopniach swobody. W zależności od zakresu zmian wartości stopni mobilności we współrzędnych uogólnionych zostały uzyskane opisy przestrzeni roboczej manipulatora robota w postaci wyrażeń logicznych.

机译：这项工作考虑了操纵机器人工作空间描述的问题，该问题具有三个移动性。取决于广义坐标值随移动度的变化的限制，以逻辑表达式的形式实现了对机器人工作空间的描述。％该工作考虑了描述具有三个自由度的机器人机械手工作空间的问题。根据通用坐标中移动性级别变化的范围，以逻辑表达式的形式获得了对机器人操纵器工作空间的描述。

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来源
《Przeglad Elektrotechniczny》 |2014年第8期|25-29|共5页
作者
Aron Abiluly BURLIBAY; Akambay Agybayuly BEISEMBAEV; Waldemar WOJCIK;
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作者单位

Kazakh National Technical University named after K.I.Satpaev, 22 Satpayevstr. Almaty P.O 050013, Republic of Kazakhstan;

Kazakh National Technical University named after K.I.Satpaev, 22 Satpayevstr. Almaty P.O 050013, Republic of Kazakhstan;

Institute of Electronics and Information Technology, Lublin University of Technology, Nadbystrzycka 38A, 20-816 Lublin, Poland;

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原文格式 PDF
正文语种 eng
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关键词
Manipulating robot; kinematic chain; mobility degree; working space;

机译：操纵机器人;运动链流动度工作空间;

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1. Dexterous workspace optimization of an asymmetric six-degree of freedom Stewart-Gough platform type manipulator [J] . Metin Toz, Serdar Kucuk Robotics and Autonomous Systems . 2013,第12期

机译：非对称六自由度Stewart-Gough平台式机械手的灵巧工作空间优化
2. Performance analysis of two-degree of freedom fractional order PID controllers for robotic manipulator with payload [J] . Sharma Richa, Gaur Prerna, Mittal A. P. ISA Transactions . 2015,第Null期

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3. Determination of the closed-form workspace area expression and dimensional optimization of planar parallel manipulators [J] . Ganesh M., Bihari Banke, Rathore Vijay Singh, Robotica . 2017,第10期

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4. Development of Method of Forming Signals for the Actuators of Manipulators with Redundant Degrees of Mobility [C] . Gornostaev I., Gubankov A. International Conference on Industrial Engineering, Applications and Manufacturing . 2017

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5. Modeling, optimal design, shape estimation and workspace analysis of soft robotic manipulators. [D] . Trivedi, Deepak. 2010

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6. A planning target volume margin formula for hypofractionated intracranial stereotactic radiotherapy under cone beam CT image guidance with a six-degrees-of-freedom robotic couch and a mouthpiece-assisted mask system: a preliminary study [O] . Y Naoi, N Kunishima, K Yamamoto, 2014

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7. Stable Control of Robotic Manipulator with Collision Phenomena : Positioning of Multi-Degrees-of-Freedom Linear Manipulator [O] . Yasumasa Shoji, Makoto Inaba, Toshio Fukuda, 1993

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8. Robotic control of the seven-degree-of-freedom NASA laboratory telerobotic manipulator [R] . Dubey, R. V., Euler, J. A., Magness, R. B., 1989

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Description of the manipulator robot's workspaces with three mobility degrees in the form of the logical expressions

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