Program Displacement Tracing of Executive Devices by the Manipulator Drives of Parallel-Sequential Structures
- Authors: Vorob’eva N.S.1, Zhoga V.V.2,3, Nesmiyanov I.A.1
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Affiliations:
- Volgograd State Agricultural University
- Volgograd State Technical University
- Robotics Development Center, Innopolis University
- Issue: Vol 58, No 2 (2019)
- Pages: 305-316
- Section: Robotics
- URL: https://journals.rcsi.science/1064-2307/article/view/220351
- DOI: https://doi.org/10.1134/S1064230719020187
- ID: 220351
Cite item
Abstract
Synthesis methods for program displacements are developed for executive cylinders of the manipulator of a parallel-sequential structure, that ensure implementation of the required trajectories of the executive device of a manipulator. Program displacements of executive cylinders are interpolated by a finite collection of third-order and fourth-order splines. At each point of the trajectory of the executive device, the manipulator configuration is determined by resolving an optimization problem with the minimum condition of the generalized energy criterion.
About the authors
N. S. Vorob’eva
Volgograd State Agricultural University
Author for correspondence.
Email: vgsxa@mail.ru
Russian Federation, Volgograd, 400002
V. V. Zhoga
Volgograd State Technical University; Robotics Development Center, Innopolis University
Email: vgsxa@mail.ru
Russian Federation, Volgograd, 400006; Innopolis
I. A. Nesmiyanov
Volgograd State Agricultural University
Email: vgsxa@mail.ru
Russian Federation, Volgograd, 400002
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