Transformation matrix approach to dynamics of manipulative robots
2006
Преузимање 🢃
Конференцијски прилог (Објављена верзија)
Метаподаци
Приказ свих података о документуАпстракт
This paper considers the problem of defining and solving problems in robot mechanics that is fundamental for successful design and performance of robot control system. It considers a few different approaches for describing dynamics of robots and forming of dynamics models with purpose to get a set of mathematical equations describing activity of torques and forces on robot arm in form of motion equations describing the dynamic behavior of the manipulator. It describes the formulation, characteristics and properties of dynamics equations of motion, which are suitable for control purposes, through three different formulations, whereby advantages and disadvantages of each are described separately. To realize practical application of dynamics calculation and solving them using the PC computer, the method use 3×3 rotation matrices and 4×4 homogeneous transformation matrices.
Кључне речи:
robot dynamics / transformation matrix / equations of motionИзвор:
Proceedings of 6th International Conference Research and Development in Mechanical Industry RaDMI 2006, 2006, D-25.1-D-25.8Издавач:
- Faculty of Mechanical Engineering of Kraljevo, High Technical Mechanical School of Trstenik
Колекције
Институција/група
Mašinski fakultetTY - CONF AU - Milićević, Ivan AU - Golubović, Dragan AU - Slavković, Nikola PY - 2006 UR - https://machinery.mas.bg.ac.rs/handle/123456789/4795 AB - This paper considers the problem of defining and solving problems in robot mechanics that is fundamental for successful design and performance of robot control system. It considers a few different approaches for describing dynamics of robots and forming of dynamics models with purpose to get a set of mathematical equations describing activity of torques and forces on robot arm in form of motion equations describing the dynamic behavior of the manipulator. It describes the formulation, characteristics and properties of dynamics equations of motion, which are suitable for control purposes, through three different formulations, whereby advantages and disadvantages of each are described separately. To realize practical application of dynamics calculation and solving them using the PC computer, the method use 3×3 rotation matrices and 4×4 homogeneous transformation matrices. PB - Faculty of Mechanical Engineering of Kraljevo, High Technical Mechanical School of Trstenik C3 - Proceedings of 6th International Conference Research and Development in Mechanical Industry RaDMI 2006 T1 - Transformation matrix approach to dynamics of manipulative robots EP - D-25.8 SP - D-25.1 UR - https://hdl.handle.net/21.15107/rcub_machinery_4795 ER -
@conference{ author = "Milićević, Ivan and Golubović, Dragan and Slavković, Nikola", year = "2006", abstract = "This paper considers the problem of defining and solving problems in robot mechanics that is fundamental for successful design and performance of robot control system. It considers a few different approaches for describing dynamics of robots and forming of dynamics models with purpose to get a set of mathematical equations describing activity of torques and forces on robot arm in form of motion equations describing the dynamic behavior of the manipulator. It describes the formulation, characteristics and properties of dynamics equations of motion, which are suitable for control purposes, through three different formulations, whereby advantages and disadvantages of each are described separately. To realize practical application of dynamics calculation and solving them using the PC computer, the method use 3×3 rotation matrices and 4×4 homogeneous transformation matrices.", publisher = "Faculty of Mechanical Engineering of Kraljevo, High Technical Mechanical School of Trstenik", journal = "Proceedings of 6th International Conference Research and Development in Mechanical Industry RaDMI 2006", title = "Transformation matrix approach to dynamics of manipulative robots", pages = "D-25.8-D-25.1", url = "https://hdl.handle.net/21.15107/rcub_machinery_4795" }
Milićević, I., Golubović, D.,& Slavković, N.. (2006). Transformation matrix approach to dynamics of manipulative robots. in Proceedings of 6th International Conference Research and Development in Mechanical Industry RaDMI 2006 Faculty of Mechanical Engineering of Kraljevo, High Technical Mechanical School of Trstenik., D-25.1-D-25.8. https://hdl.handle.net/21.15107/rcub_machinery_4795
Milićević I, Golubović D, Slavković N. Transformation matrix approach to dynamics of manipulative robots. in Proceedings of 6th International Conference Research and Development in Mechanical Industry RaDMI 2006. 2006;:D-25.1-D-25.8. https://hdl.handle.net/21.15107/rcub_machinery_4795 .
Milićević, Ivan, Golubović, Dragan, Slavković, Nikola, "Transformation matrix approach to dynamics of manipulative robots" in Proceedings of 6th International Conference Research and Development in Mechanical Industry RaDMI 2006 (2006):D-25.1-D-25.8, https://hdl.handle.net/21.15107/rcub_machinery_4795 .