Program Displacement Tracing of Executive Devices by the Manipulator Drives of Parallel-Sequential Structures
- 作者: Vorob’eva N.1, Zhoga V.2,3, Nesmiyanov I.1
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隶属关系:
- Volgograd State Agricultural University
- Volgograd State Technical University
- Robotics Development Center, Innopolis University
- 期: 卷 58, 编号 2 (2019)
- 页面: 305-316
- 栏目: Robotics
- URL: https://journals.rcsi.science/1064-2307/article/view/220351
- DOI: https://doi.org/10.1134/S1064230719020187
- ID: 220351
如何引用文章
详细
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.
作者简介
N. Vorob’eva
Volgograd State Agricultural University
编辑信件的主要联系方式.
Email: vgsxa@mail.ru
俄罗斯联邦, Volgograd, 400002
V. Zhoga
Volgograd State Technical University; Robotics Development Center, Innopolis University
Email: vgsxa@mail.ru
俄罗斯联邦, Volgograd, 400006; Innopolis
I. Nesmiyanov
Volgograd State Agricultural University
Email: vgsxa@mail.ru
俄罗斯联邦, Volgograd, 400002