Definition of service angle of android's robot hand by method of small movements of gripper's axis synthesis by speed vector
The paper presents a generalized method for determining the service solid angle based on the assigned gripper axis orientation with a stationary grip center. Motion synthesis in this work is carried out in the vector of velocities. As an example, a solid angle of the android robot arm is determined,...
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| Published in | Journal of physics. Conference series Vol. 1210; no. 1; pp. 12115 - 12120 |
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| Main Authors | , |
| Format | Journal Article |
| Language | English |
| Published |
Bristol
IOP Publishing
01.03.2019
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| Subjects | |
| Online Access | Get full text |
| ISSN | 1742-6588 1742-6596 |
| DOI | 10.1088/1742-6596/1210/1/012115 |
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| Abstract | The paper presents a generalized method for determining the service solid angle based on the assigned gripper axis orientation with a stationary grip center. Motion synthesis in this work is carried out in the vector of velocities. As an example, a solid angle of the android robot arm is determined, this angle being formed by the longitudinal axis of a gripper. The nature of the method is based on the study of sets of configuration positions, defining the end point positions of the unit radius sphere sweep, which specifies the service solid angle. From this the spherical curve specifying the shape of the desired solid angle was determined. The results of the research can be used in the development of control systems of autonomous android robots. |
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| AbstractList | The paper presents a generalized method for determining the service solid angle based on the assigned gripper axis orientation with a stationary grip center. Motion synthesis in this work is carried out in the vector of velocities. As an example, a solid angle of the android robot arm is determined, this angle being formed by the longitudinal axis of a gripper. The nature of the method is based on the study of sets of configuration positions, defining the end point positions of the unit radius sphere sweep, which specifies the service solid angle. From this the spherical curve specifying the shape of the desired solid angle was determined. The results of the research can be used in the development of control systems of autonomous android robots. |
| Author | Nebritov, V I Pritykin, F N |
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| Cites_doi | 10.1088/1757-899X/124/1/012025 10.1007/s11431-010-3182-6 10.1109/Dynamics.2016.7819064 10.1109/ICMA.2016.7558531 |
| ContentType | Journal Article |
| Copyright | Published under licence by IOP Publishing Ltd 2019. This work is published under http://creativecommons.org/licenses/by/3.0/ (the “License”). Notwithstanding the ProQuest Terms and Conditions, you may use this content in accordance with the terms of the License. |
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| References | Pritykin F N (4) 2002; 3 Korendyasev A I (5) 1985; 6 6 7 8 Kartashev V A (2) 2015; 1 Lopatin P (1) 2016 Lebedev P A (3) 1991; 5 |
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| Title | Definition of service angle of android's robot hand by method of small movements of gripper's axis synthesis by speed vector |
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