Analytical solution of inverze task for robot with sixth rotational joints and its concrete utilization
Abstract eng: This paper presents an analytical solution inverse problem of industrial robot manipulator with sixth degree of freedom. Analytical solution is much better then numerical one, because it enables to compute internal coordinates in a short time. This fact is used for more precise computation of the trajectory, firstly the motion on abscissas, circles or general curves. Then it is presented a control algorithm, which uses kinematical equation.
Contributors:
Publisher:
Institute of Theoretical and Applied Mechanics AS CR, v.v.i., Prague
Conference Title:
Conference Title:
Engineering Mechanics 2009
Conference Venue:
Svratka (CZ)
Conference Dates:
2009-05-11 / 2009-05-14
Rights:
Text je chráněný podle autorského zákona č. 121/2000 Sb.
Record appears in:
Record created 2014-11-14, last modified 2014-11-18
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