Forward and inverse robot model kinematics and trajectory planning

Forward and inverse robot model kinematics and trajectory planning

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 t...

Full description

Saved in:
Bibliographic Details
Published in:2022 20th International Conference on Mechatronics - Mechatronika (ME) pp. 1 - 9
Main Authors: Hroncova, Darina, Mikova, Lubica, Prada, Erik, Rakay, Robert, Jan Sincak, Peter, Merva, Tomas
Format: Conference Proceeding
Language:English
Published: IEEE 07-12-2022
Subjects:
Computational modeling
Computer simulation
Control systems
End effectors
forward kinematic
inverse kinematic
kinematic pairs
Kinematics
Mathematical models
software simulation
Stability analysis
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary: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.
DOI:10.1109/ME54704.2022.9983355