Naslov
Contribution to the kinematics and dynamics of redundant robots via distributed positioning

Autori
Potkonjak, Veljko ; Krstulović, Ante

Izvornik
Journal of Intelligent and Robotic Systems (0921-0296) 5 (1992), 3; 229-239

Vrsta, podvrsta i kategorija rada
Radovi u časopisima, članak, znanstveni

Ključne riječi
distributed positioning; dynamic capabilities; kinematics; operation speed; redundance; Robots

Sažetak
The concept of distributed positioning is based on the separation of the required end-effector motion into two components according to a criterion. The external-to-internal transformation of the motion is made in such a way that some of the joints become responsible for the first and others for the second component. Thus, the redundancy could be compensated and the unique solution of the inverse kinematics achieved. If the separation is made according to the acceleration criterion, then the 'smooth' and the 'fast' components of the end-effector motion are obtained. The paper shows that this concept results in the improvement of robot dynamic capabilities. © ; 1992 Kluwer Academic Publishers.

Izvorni jezik
Engleski

Znanstvena područja
Strojarstvo

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