The problem of solving the kinematics of the robot
2005
Golubovic, D.(Robocity, London (United Kingdom)) | Miklic, D.(Tehnicki fakultet, Cacak (Serbia))
The paper presents the results of the research into the direct and indirect problem arising from solving the mechanics of a quadruped robot, as well as the possibilities of applying the basic equations in solving the kinematics of a robot whose internal structure is with joints that allow only rotational movements. Methods of solving direct and inversion problems of robot kinematics are described - these methods can be used in solving the mechanics with the internal structure that relies in joints, as well as the possibility of mechanical modeling. Since the mechanical structure of a robot is a joint-based mechanism, the robot can be first viewed as a segmented chain, and then a geometric approach can be defined for solving the direct and the indirect task of the kinematics. The work represents a part of a Project that is being realized at the Technical Faculty in Cacak, Serbia, with an aim of developing.
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