THE COMPUTERIZED REVERSE KINEMATICS OF THE 3R MANIPULATOR IN THE STACKING PROCESS OF BALES

被引：0

作者：

Adir, George ^{[1
]}

Grecu, Barbu ^{[1
]}

David, Ladislau ^{[1
]}

Voicu, Gheorghe ^{[1
]}

机构：

[1] Univ Politehn Bucuresti, Bucharest, Romania

来源：

ACTUAL TASKS ON AGRICULTURAL ENGINEERING, PROCEEDINGS | 2010年 / 38卷

关键词：

manipulator mechanism; synthesis; stacking process; bales;

D O I：

暂无

中图分类号：

S2 [农业工程];

学科分类号：

0828 ;

摘要：

The manipulator mechanism with 3D working space is characterized by the configuration of 3 motor rotation joints. In this paper we consider R (perpendicular to) R parallel to R configuration, on which the characteristic point with first rotation joint determines one plane, that represents the motion plane at the last two elements. With kinematic modulations, it can be established the command functions (position, velocity and acceleration in the motor joint) from the condition that the tracer point makes a motion according to a law, called motion law.

引用

页码：281 / 290

页数：10

共 50 条

[1] Recursive kinematics and inverse dynamics for a planar 3R Parallel Manipulator
Khan, WA
Krovi, VN
Saha, SK
Angeles, J
[J]. JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME, 2005, 127 (04): : 529 - 536
[2] Analysis and Control of 3R Underactuated Manipulator
Suzuki, Takahiro
Kinoshita, Toru
Gunji, Satoshi
[J]. 2008 PROCEEDINGS OF SICE ANNUAL CONFERENCE, VOLS 1-7, 2008, : 2970 - 2975
[3] A CLASSIFICATION OF 3R REGIONAL MANIPULATOR SINGULARITIES AND GEOMETRIES
BURDICK, JW
[J]. MECHANISM AND MACHINE THEORY, 1995, 30 (01) : 71 - 89
[4] Controllability properties of a planar 3R underactuated manipulator
Mahindrakar, AD
Banavar, RN
[J]. PROCEEDINGS OF THE 2002 IEEE INTERNATIONAL CONFERENCE ON CONTROL APPLICATIONS, VOLS 1 & 2, 2002, : 489 - 494
[5] An Appropriate Tool for Optimizing the Workspace of 3R Robot Manipulator
Panda, S.
Mishra, D.
Biswal, B. B.
[J]. 2009 WORLD CONGRESS ON NATURE & BIOLOGICALLY INSPIRED COMPUTING (NABIC 2009), 2009, : 1155 - +
[6] Dynamic tracking and friction compensation in a 3R underactuated manipulator
Mahulkar, V
Gandhi, PS
Banavar, RN
[J]. Proceedings of the 23rd IASTED International Conference on Modelling, Identification, and Control, 2004, : 234 - 240
[7] A classification of 3R regional manipulator geometries and singularities - Comment
Wenger, P
ElOmri, J
[J]. MECHANISM AND MACHINE THEORY, 1997, 32 (04) : 529 - 532
[8] New 3T1R Parallel Manipulator 2-(RPa3R)3R with Zero Coupling Degree and Partial Decoupling: Design and Kinematics
Shen, Huiping
Xu, Ke
Yang, Tingli
Deng, Jiaming
[J]. Jixie Gongcheng Xuebao/Journal of Mechanical Engineering, 2019, 55 (05): : 53 - 64
[9] Necessary and sufficient condition for a generic 3R serial manipulator to be cuspidal
Salunkhe, Durgesh Haribhau
Spartalis, Christoforos
Capco, Jose
Chablat, Damien
Wenger, Philippe
[J]. MECHANISM AND MACHINE THEORY, 2022, 171
[10] Optimal Trajectory Planning of a 3R SCARA Manipulator using Geodesic
Jena, Amit
Sahu, Pradip Kumar
Bharat, Sidagam Chaitanya
Biswal, B. B.
[J]. PROCEEDINGS OF THE FIRST IEEE INTERNATIONAL CONFERENCE ON POWER ELECTRONICS, INTELLIGENT CONTROL AND ENERGY SYSTEMS (ICPEICES 2016), 2016,

← 1 2 3 4 5 →