Initial Estimation of Kinematic Structure of a Robotic Manipulator as an Input for Its Synthesis
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F61989100%3A27230%2F21%3A10247497" target="_blank" >RIV/61989100:27230/21:10247497 - isvavai.cz</a>
Result on the web
<a href="https://www.mdpi.com/2076-3417/11/8/3548/htm" target="_blank" >https://www.mdpi.com/2076-3417/11/8/3548/htm</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.3390/app11083548" target="_blank" >10.3390/app11083548</a>
Alternative languages
Result language
angličtina
Original language name
Initial Estimation of Kinematic Structure of a Robotic Manipulator as an Input for Its Synthesis
Original language description
Researchers often deal with the synthesis of the kinematic structure of a robotic manipulator to determine the optimal manipulator for a given task. This approach can lower the cost of the manipulator and allow it to achieve poses that might be unreachable by universal manipulators in an existing constrained environment. Numerical methods are broadly used to find the optimum design but they often require an estimated initial kinematic structure as input, especially if local-optimum-search algorithms are used. This paper presents four different algorithms for such an estimation using the standard Denavit-Hartenberg convention. Two of the algorithms are able to reach a given position and the other two can reach both position and orientation using Bezier splines approximation and vector algebra. The results are demonstrated with three chosen example poses and are evaluated by measuring manipulability and the total link length of the final kinematic structures.
Czech name
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Czech description
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Classification
Type
J<sub>imp</sub> - Article in a specialist periodical, which is included in the Web of Science database
CEP classification
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OECD FORD branch
20301 - Mechanical engineering
Result continuities
Project
<a href="/en/project/EF16_019%2F0000867" target="_blank" >EF16_019/0000867: Research Centre of Advanced Mechatronic Systems</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)<br>S - Specificky vyzkum na vysokych skolach
Others
Publication year
2021
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Name of the periodical
Applied Sciences
ISSN
2076-3417
e-ISSN
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Volume of the periodical
11
Issue of the periodical within the volume
8
Country of publishing house
CH - SWITZERLAND
Number of pages
19
Pages from-to
1-19
UT code for WoS article
000644055400001
EID of the result in the Scopus database
2-s2.0-85104742432