Relative motion of manipulator's rigid segments with respect to one another – kinematics
Само за регистроване кориснике
2009
Конференцијски прилог (Објављена верзија)
Метаподаци
Приказ свих података о документуАпстракт
Immobile base manipulators each in the form of an open unbranched kinematical
chain with kinematical pairs of the fifth class are considered. The manipulator’s segments are
assumed to be ideally rigid bodies and each joint can be either revolute or prismatic. This
paper deals with the kinematics of the segments in relative motion with respect to one another
and gives formulae in vector form for kinematical quantities that describe the relative motion
of the segments. The mathematical formalism for obtaining the equation of motion of a class
of robotic systems developed in [3] is used to present obtained results. The paper ought to
broaden and generalize some existing results in the kinematics of rigid bodies and contribute
to a deeper understanding of motion of multibody systems.
Кључне речи:
kinematics of rigid bodies / relative motion / multibody systems / robotic systemsИзвор:
Proceedings of 2nd International Congress of Serbian Society of Mechanics (IConSSM 2009), Palić (Subotica), Serbia, 1-5 June 2009, 2009, A-05 1-8Издавач:
- Belgrade: Serbian Society of Mechanics
Финансирање / пројекти:
- Развој биолошких мотивисаних контролних и сензорских система и израда студијског прототипа ножног помагала (RS-MESTD-MPN2006-2010-20152)
Колекције
Институција/група
Mašinski fakultetTY - CONF AU - Živanović, Miloš AU - Lazarević, Mihailo PY - 2009 UR - https://machinery.mas.bg.ac.rs/handle/123456789/5146 AB - Immobile base manipulators each in the form of an open unbranched kinematical chain with kinematical pairs of the fifth class are considered. The manipulator’s segments are assumed to be ideally rigid bodies and each joint can be either revolute or prismatic. This paper deals with the kinematics of the segments in relative motion with respect to one another and gives formulae in vector form for kinematical quantities that describe the relative motion of the segments. The mathematical formalism for obtaining the equation of motion of a class of robotic systems developed in [3] is used to present obtained results. The paper ought to broaden and generalize some existing results in the kinematics of rigid bodies and contribute to a deeper understanding of motion of multibody systems. PB - Belgrade: Serbian Society of Mechanics C3 - Proceedings of 2nd International Congress of Serbian Society of Mechanics (IConSSM 2009), Palić (Subotica), Serbia, 1-5 June 2009 T1 - Relative motion of manipulator's rigid segments with respect to one another – kinematics EP - 8 SP - A-05 1 UR - https://hdl.handle.net/21.15107/rcub_machinery_5146 ER -
@conference{ author = "Živanović, Miloš and Lazarević, Mihailo", year = "2009", abstract = "Immobile base manipulators each in the form of an open unbranched kinematical chain with kinematical pairs of the fifth class are considered. The manipulator’s segments are assumed to be ideally rigid bodies and each joint can be either revolute or prismatic. This paper deals with the kinematics of the segments in relative motion with respect to one another and gives formulae in vector form for kinematical quantities that describe the relative motion of the segments. The mathematical formalism for obtaining the equation of motion of a class of robotic systems developed in [3] is used to present obtained results. The paper ought to broaden and generalize some existing results in the kinematics of rigid bodies and contribute to a deeper understanding of motion of multibody systems.", publisher = "Belgrade: Serbian Society of Mechanics", journal = "Proceedings of 2nd International Congress of Serbian Society of Mechanics (IConSSM 2009), Palić (Subotica), Serbia, 1-5 June 2009", title = "Relative motion of manipulator's rigid segments with respect to one another – kinematics", pages = "8-A-05 1", url = "https://hdl.handle.net/21.15107/rcub_machinery_5146" }
Živanović, M.,& Lazarević, M.. (2009). Relative motion of manipulator's rigid segments with respect to one another – kinematics. in Proceedings of 2nd International Congress of Serbian Society of Mechanics (IConSSM 2009), Palić (Subotica), Serbia, 1-5 June 2009 Belgrade: Serbian Society of Mechanics., A-05 1-8. https://hdl.handle.net/21.15107/rcub_machinery_5146
Živanović M, Lazarević M. Relative motion of manipulator's rigid segments with respect to one another – kinematics. in Proceedings of 2nd International Congress of Serbian Society of Mechanics (IConSSM 2009), Palić (Subotica), Serbia, 1-5 June 2009. 2009;:A-05 1-8. https://hdl.handle.net/21.15107/rcub_machinery_5146 .
Živanović, Miloš, Lazarević, Mihailo, "Relative motion of manipulator's rigid segments with respect to one another – kinematics" in Proceedings of 2nd International Congress of Serbian Society of Mechanics (IConSSM 2009), Palić (Subotica), Serbia, 1-5 June 2009 (2009):A-05 1-8, https://hdl.handle.net/21.15107/rcub_machinery_5146 .