Dynamic creation of the optimum program motion of a manipulator-tripod

A solution to the problem of the creation of the programmed motions of manipulator-tripod links based on the minimum acceleration of a grip is given. The kinematic parameters of a grip during its motion in an optimum trajectory and the solution of the task of minimizing the changes of the length of...

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Bibliographic Details
Published in:Journal of machinery manufacture and reliability 2015-03, Vol.44 (2), p.180-185
Main Authors: Zhoga, V. V., Gerasun, V. M., Nesmiyanov, I. A., Vorob’eva, N. S., Dyashkin-Titov, V. V.
Format: Article
Language:English
Subjects:
Automation and Control in Manufacturing
Engineering
Machines
Manufacturing
Processes
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Summary:A solution to the problem of the creation of the programmed motions of manipulator-tripod links based on the minimum acceleration of a grip is given. The kinematic parameters of a grip during its motion in an optimum trajectory and the solution of the task of minimizing the changes of the length of the manipulator links are compared.
ISSN:1052-6188
1934-9394
DOI:10.3103/S1052618815020168