Determination of spherical curve defining the angle of service of android robot arm by method of small motions synthesis
A generalized method for determining the angle of service based on the synthesis of motions in the specified directions of the gripper’s axis with immobile center is presented. As an example, the angle of the android robot’s arm is defined, formed by the longitudinal axis of the gripper. The essen...
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| Format: | Article |
| Language: | English |
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Omsk State Technical University, Federal State Autonomous Educational Institution of Higher Education
2018-10-01
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| Series: | Омский научный вестник: Серия "Авиационно-ракетное и энергетическое машиностроение" |
| Subjects: | |
| Online Access: | https://www.omgtu.ru/general_information/media_omgtu/journal_of_omsk_research_journal/files/arhiv/2018/%D0%A2.%202,%20%E2%84%96%203/71-76%20%D0%9F%D1%80%D0%B8%D1%82%D1%8B%D0%BA%D0%B8%D0%BD%20%D0%A4.%20%D0%9D.,%20%D0%9D%D0%B5%D0%B1%D1%80%D0%B8%D1%82%D0%BE%D0%B2%20%D0%92.%20%D0%98..pdf |
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| _version_ | 1832574078632853504 |
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| author | F. N. Pritykin V. I. Nebritov |
| author_facet | F. N. Pritykin V. I. Nebritov |
| author_sort | F. N. Pritykin |
| collection | DOAJ |
| description | A generalized method for determining the angle of service based on the synthesis of motions in the specified
directions of the gripper’s axis with immobile center is presented. As an example, the angle of the android robot’s
arm is defined, formed by the longitudinal axis of the gripper. The essence of the method is based on the study of
position’s sets of configurations defining the extreme positions of the points of a sphere of unit radius that specifies
the angle of the service. On the basis of this, a spherical curve defining the shape of the desired angle is defined |
| format | Article |
| id | doaj-art-095f7826f4b046b08be5e291f2b6a54c |
| institution | Kabale University |
| issn | 2588-0373 2587-764X |
| language | English |
| publishDate | 2018-10-01 |
| publisher | Omsk State Technical University, Federal State Autonomous Educational Institution of Higher Education |
| record_format | Article |
| series | Омский научный вестник: Серия "Авиационно-ракетное и энергетическое машиностроение" |
| spelling | doaj-art-095f7826f4b046b08be5e291f2b6a54c2025-02-02T00:48:10ZengOmsk State Technical University, Federal State Autonomous Educational Institution of Higher EducationОмский научный вестник: Серия "Авиационно-ракетное и энергетическое машиностроение"2588-03732587-764X2018-10-0123717610.25206/2588-0373-2018-2-3-71-76Determination of spherical curve defining the angle of service of android robot arm by method of small motions synthesisF. N. Pritykin0https://orcid.org/0000-0001-8081-6840V. I. Nebritov1Omsk State Technical UniversityOmsk State Technical UniversityA generalized method for determining the angle of service based on the synthesis of motions in the specified directions of the gripper’s axis with immobile center is presented. As an example, the angle of the android robot’s arm is defined, formed by the longitudinal axis of the gripper. The essence of the method is based on the study of position’s sets of configurations defining the extreme positions of the points of a sphere of unit radius that specifies the angle of the service. On the basis of this, a spherical curve defining the shape of the desired angle is definedhttps://www.omgtu.ru/general_information/media_omgtu/journal_of_omsk_research_journal/files/arhiv/2018/%D0%A2.%202,%20%E2%84%96%203/71-76%20%D0%9F%D1%80%D0%B8%D1%82%D1%8B%D0%BA%D0%B8%D0%BD%20%D0%A4.%20%D0%9D.,%20%D0%9D%D0%B5%D0%B1%D1%80%D0%B8%D1%82%D0%BE%D0%B2%20%D0%92.%20%D0%98..pdfmanipulators mechanismsservice anglerobot motion synthesismaneuverabilityroboticsoutput link |
| spellingShingle | F. N. Pritykin V. I. Nebritov Determination of spherical curve defining the angle of service of android robot arm by method of small motions synthesis Омский научный вестник: Серия "Авиационно-ракетное и энергетическое машиностроение" manipulators mechanisms service angle robot motion synthesis maneuverability robotics output link |
| title | Determination of spherical curve defining the angle of service of android robot arm by method of small motions synthesis |
| title_full | Determination of spherical curve defining the angle of service of android robot arm by method of small motions synthesis |
| title_fullStr | Determination of spherical curve defining the angle of service of android robot arm by method of small motions synthesis |
| title_full_unstemmed | Determination of spherical curve defining the angle of service of android robot arm by method of small motions synthesis |
| title_short | Determination of spherical curve defining the angle of service of android robot arm by method of small motions synthesis |
| title_sort | determination of spherical curve defining the angle of service of android robot arm by method of small motions synthesis |
| topic | manipulators mechanisms service angle robot motion synthesis maneuverability robotics output link |
| url | https://www.omgtu.ru/general_information/media_omgtu/journal_of_omsk_research_journal/files/arhiv/2018/%D0%A2.%202,%20%E2%84%96%203/71-76%20%D0%9F%D1%80%D0%B8%D1%82%D1%8B%D0%BA%D0%B8%D0%BD%20%D0%A4.%20%D0%9D.,%20%D0%9D%D0%B5%D0%B1%D1%80%D0%B8%D1%82%D0%BE%D0%B2%20%D0%92.%20%D0%98..pdf |
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