Coordinated jogging algorithm for general serial robot architectures
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F49777513%3A23520%2F19%3A43958116" target="_blank" >RIV/49777513:23520/19:43958116 - isvavai.cz</a>
Result on the web
<a href="https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=9119259" target="_blank" >https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=9119259</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/Informatics47936.2019.9119259" target="_blank" >10.1109/Informatics47936.2019.9119259</a>
Alternative languages
Result language
angličtina
Original language name
Coordinated jogging algorithm for general serial robot architectures
Original language description
The paper deals with a novel functional block for general serial robot coordinate jogging. The functional block is implemented and integrated to the functional block library of the real-time control system REXYGEN and brings new possibilities of rapid prototyping and initial testing of advanced robot architectures. The robot kinematics is described by the Denavit-Hartenberg parameters. The common jogging mode of operation (world, tool) is supported as well as user-defined coordinate frames definition for specific applications. In the case of kinematic redundancy, the internal robot motion optimization is available allowing joint position limitation and/or obstacle avoidance. Maximum allowed joint velocity is taken into account in order to cope with the kinematic singularities. Illustrative examples of the early-prototype robot for industrial inspection purposes are introduced and universality of the proposed jogging functional block is verified.
Czech name
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Czech description
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Classification
Type
D - Article in proceedings
CEP classification
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OECD FORD branch
20205 - Automation and control systems
Result continuities
Project
<a href="/en/project/FV10044" target="_blank" >FV10044: Research and development of advanced collaborative robotic platform and its application in manufacturing of electronic components</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)
Others
Publication year
2019
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
INFORMATICS 2019
ISBN
978-1-72813-179-5
ISSN
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e-ISSN
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Number of pages
6
Pages from-to
445-450
Publisher name
IEEE, Inc.
Place of publication
New York
Event location
Poprad, Slovakia
Event date
Nov 20, 2019
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
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