Kinematic Analysis and Torque Dynamics of a 5-DOF Robotic Manipulator for Enhanced Precision and Fault Detection in FDM 3D Printing
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21220%2F24%3A00378537" target="_blank" >RIV/68407700:21220/24:00378537 - isvavai.cz</a>
Result on the web
<a href="http://dx.doi.org/10.1109/ME61309.2024.10789704" target="_blank" >http://dx.doi.org/10.1109/ME61309.2024.10789704</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/ME61309.2024.10789704" target="_blank" >10.1109/ME61309.2024.10789704</a>
Alternative languages
Result language
angličtina
Original language name
Kinematic Analysis and Torque Dynamics of a 5-DOF Robotic Manipulator for Enhanced Precision and Fault Detection in FDM 3D Printing
Original language description
This paper comprehensively analyzes a 5-DOF robotic manipulator, focusing on kinematics, Jacobian matrix derivation, singularity characterization, and torque computation. The study enhances precision and efficiency in robotic operations through advanced modeling and simulation techniques. Key contributions include detailed insights into the kinematics, torque dynamics, and singularity analysis of the manipulator, guiding the design of robots for computer vision tasks in FDM 3D printing. Illustrating singularity regions and optimizing trajectory planning offer a basic framework for ensuring compatibility across various 3D printers, advancing robotic design, and improving quality assurance in additive manufacturing.
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
20204 - Robotics and automatic control
Result continuities
Project
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Continuities
S - Specificky vyzkum na vysokych skolach
Others
Publication year
2024
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
2024 21st International Conference on Mechatronics - Mechatronika (ME)
ISBN
979-8-3503-9490-0
ISSN
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e-ISSN
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Number of pages
8
Pages from-to
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Publisher name
IEEE
Place of publication
New Jersey
Event location
Brno
Event date
Dec 4, 2024
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
001414274500063