Innovative design and control of robotic manipulator for chemically aggressive environments

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F49777513%3A23520%2F12%3A43916094" target="_blank" >RIV/49777513:23520/12:43916094 - isvavai.cz</a>
Result on the web
<a href="http://dx.doi.org/10.1109/CarpathianCC.2012.6228739" target="_blank" >http://dx.doi.org/10.1109/CarpathianCC.2012.6228739</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/CarpathianCC.2012.6228739" target="_blank" >10.1109/CarpathianCC.2012.6228739</a>

Result language
angličtina
Original language name
Innovative design and control of robotic manipulator for chemically aggressive environments
Original language description
The paper deals with kineto-static analysis of the AGgressive Environment roBOT (AGEBOT). Serio-parallel kinematic architecture of AGEBOT plays important role in aggressive environment applications such as manipulation in industrial degreasing and paintremoving lines in the presence of high pressure and temperature, acid or lye. Standard 4DoF seriál manipulator with PRRR joints is equipped with special 3 DoF parallel spherical wrist which makes possible to separate vulnerable components (motors, sensors) from the rest of the endeffector by a water-proof barrier. Inverse and direct kinematics are discussed. The algorithm for velocity, acceleration and static forces (gravity compensation) is derived. In the case of known inverse and direct position dependencies proposed algorithm can be generalized for an arbitrary serial or parallel manipulator.
Czech name
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Czech description
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Project
<a href="/en/project/FR-TI1%2F174" target="_blank" >FR-TI1/174: Research and development of the modular robotic manipulator for grease and paint removing lines</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)<br>S - Specificky vyzkum na vysokych skolach

Publication year
2012
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection
Proceedings of 2012 13th International Carpathian Control Conference (ICCC)
ISBN
978-1-4577-1867-0
ISSN
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e-ISSN
—
Number of pages
6
Pages from-to
715-720
Publisher name
IEEE
Place of publication
Neuveden
Event location
Podbanské, Slovakia
Event date
May 28, 2012
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
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