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PLC IMPLEMENTATION OF EVOLUTIONARY INVERSE KINEMATICS SOLVER FOR REDUNDANT KINEMATICS ROBOTS


Dužanec, Darko; Kovačić, Zdenko
PLC IMPLEMENTATION OF EVOLUTIONARY INVERSE KINEMATICS SOLVER FOR REDUNDANT KINEMATICS ROBOTS // EDPE 2005 CD Proceedings 13th International Conference on Electrical Drives and Power Electronics / Benčić, Zvonko (ur.).
Zagreb: KoREMA, 2005. (predavanje, međunarodna recenzija, cjeloviti rad (in extenso), znanstveni)


Naslov
PLC IMPLEMENTATION OF EVOLUTIONARY INVERSE KINEMATICS SOLVER FOR REDUNDANT KINEMATICS ROBOTS

Autori
Dužanec, Darko ; Kovačić, Zdenko

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
EDPE 2005 CD Proceedings 13th International Conference on Electrical Drives and Power Electronics / Benčić, Zvonko - Zagreb : KoREMA, 2005

Skup
13th International Conference on Electrical Drives and Power Electronics EDPE 2005

Mjesto i datum
Dubrovnik, Hrvatska, 26-28.09.2005

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
Robotics; inverse kinematics; evolutionary algorithms; genetic algorithms; PLC

Sažetak
Some fire fighting vehicles used at the airports and the refineries are equipped with robot arms manoeuvred by the vehicle operator. Together with other fire fighting apparatus on the vehicles, a robot arm is usually controlled by a programmable logic controller (PLC). In fire fighting applications, time is critical and from the vehicle operator's point of view, control of robot motion in the tool coordinate frame is preferable to the control in the robot joints frame. In this paper the design and implementation of a PLC-based genetic algorithm (GA) for solving an inverse kinematics problem for a five degrees-of-freedom (DOF) fire fighting robot with redundant kinematics is presented. The algorithm is verified with a Mitsubishi PLC FX2N16MR and the results are described.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika



POVEZANOST RADA


Projekt / tema
0036044

Ustanove
Fakultet elektrotehnike i računarstva, Zagreb

Profili:

Avatar Url Zdenko Kovačić (autor)

Citiraj ovu publikaciju

Dužanec, Darko; Kovačić, Zdenko
PLC IMPLEMENTATION OF EVOLUTIONARY INVERSE KINEMATICS SOLVER FOR REDUNDANT KINEMATICS ROBOTS // EDPE 2005 CD Proceedings 13th International Conference on Electrical Drives and Power Electronics / Benčić, Zvonko (ur.).
Zagreb: KoREMA, 2005. (predavanje, međunarodna recenzija, cjeloviti rad (in extenso), znanstveni)
Dužanec, D. & Kovačić, Z. (2005) PLC IMPLEMENTATION OF EVOLUTIONARY INVERSE KINEMATICS SOLVER FOR REDUNDANT KINEMATICS ROBOTS. U: Benčić, Z. (ur.)EDPE 2005 CD Proceedings 13th International Conference on Electrical Drives and Power Electronics.
@article{article, editor = {Ben\v{c}i\'{c}, Z.}, year = {2005}, keywords = {Robotics, inverse kinematics, evolutionary algorithms, genetic algorithms, PLC}, title = {PLC IMPLEMENTATION OF EVOLUTIONARY INVERSE KINEMATICS SOLVER FOR REDUNDANT KINEMATICS ROBOTS}, keyword = {Robotics, inverse kinematics, evolutionary algorithms, genetic algorithms, PLC}, publisher = {KoREMA}, publisherplace = {Dubrovnik, Hrvatska} }