Initial Estimation of Kinematic Structure of a Robotic Manipulator as an Input for Its Synthesis

Kód výsledku v 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>

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

Initial Estimation of Kinematic Structure of a Robotic Manipulator as an Input for Its Synthesis

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

Initial Estimation of Kinematic Structure of a Robotic Manipulator as an Input for Its Synthesis

Popis výsledku anglicky

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.

Druh

J_imp - Článek v periodiku v databázi Web of Science

CEP obor

—

OECD FORD obor

20301 - Mechanical engineering

Projekt

<a href="/cs/project/EF16_019%2F0000867" target="_blank" >EF16_019/0000867: Centrum výzkumu pokročilých mechatronických systémů</a><br>

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)<br>S - Specificky vyzkum na vysokych skolach

Rok uplatnění

2021

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název periodika

Applied Sciences

ISSN

2076-3417

e-ISSN

—

Svazek periodika

11

Číslo periodika v rámci svazku

8

Stát vydavatele periodika

CH - Švýcarská konfederace

Počet stran výsledku

19

Strana od-do

1-19

Kód UT WoS článku

000644055400001

EID výsledku v databázi Scopus

2-s2.0-85104742432