Forward and inverse robot model kinematics and trajectory planning

被引：8
|
作者：
Hroncova, Darina [1 ]
Mikova, Lubica [1 ]
Prada, Erik [1 ]
Rakay, Robert [1 ]
Sincak, Peter Jan [1 ]
Merva, Tomas [1 ]
机构：
[1] Tech Univ Kosice, Fac Mech Engn, Dept Ind Automat & Mechatron, Kosice, Slovakia
来源：
2022 20TH INTERNATIONAL CONFERENCE ON MECHATRONICS - MECHATRONIKA (ME) | 2022年
关键词：
kinematics; forward kinematic; inverse kinematic; kinematic pairs; software simulation;
D O I：
10.1109/ME54704.2022.9983355
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
The presented paper is dedicated to kinematic analysis of open kinematic chains. The aim of the kinematic analysis is to investigate the dependence of the coordinates of driven kinematic pairs on the coordinates of the system, to determine the respective speeds and accelerations and to investigate the movement of its important points and members. The movement of the point of the end member of the multi-member manipulator model is monitored by matrix method. Attention is paid to the kinematic and dynamic analysis of the manipulator and the modeling of end member motion control. Matlab/Simulink and MSC Adams/View are used for computer simulations. In the end, the results obtained by computer simulation of the assembled model are evaluated.
引用
收藏
页数：9
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