| Issue |
MATEC Web Conf.
Volume 76, 2016
20th International Conference on Circuits, Systems, Communications and Computers (CSCC 2016)
|
|
|---|---|---|
| Article Number | 02027 | |
| Number of page(s) | 5 | |
| Section | Systems | |
| DOI | https://doi.org/10.1051/matecconf/20167602027 | |
| Published online | 21 October 2016 | |
Measuring robot kinematics description and its workspace
1 UTB FAI ve Zlíně, Department of Automation and Control Engineering, Nad Stráněmi 4511 760 05 Zlín, Czech Republic
2 UTB FAI ve Zlíně, Department of Security Engineering, Nad Stráněmi 4511 760 05 Zlín, Czech Republic
a Corresponding author: urednicek@fai.utb.cz
Text deals with 6 degree of freedom measuring robot kinematics description enabling manipulation with measuring effector in 3D space. Mentioned description flowing from Denavit- Hartenberg notation for serial ordering of ideally stiff bodies connected by kinematic pairs, makes possible to create complete set of transformation matrices for coordinates transformation from distal to the adjoining proximal Cartesian coordinate system, which enables to calculate the coordinates of arbitrary structure point by means of joints’ coordinates. Thenceforth it makes possible to determine standby and available robot workplace and mainly to perform the analysis of one fundamental control system problem of such robots- i. e. solving inverse kinematic problem.
© The Authors, published by EDP Sciences, 2016
This is an Open Access article distributed under the terms of the Creative Commons Attribution License 4.0, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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