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Innovative design and control of robotic manipulator for chemically aggressive environments

Citace: [] ŠVEJDA, M., GOUBEJ, M. Innovative design and control of robotic manipulator for chemically aggressive environments. In Proceedings of 2012 13th International Carpathian Control Conference (ICCC). Neuveden: IEEE, 2012. s. 715-720. ISBN: 978-1-4577-1867-0
Druh: STAŤ VE SBORNÍKU
Jazyk publikace: eng
Anglický název: Innovative design and control of robotic manipulator for chemically aggressive environments
Rok vydání: 2012
Místo konání: Neuveden
Název zdroje: IEEE
Autoři: Ing. Martin Švejda , Ing. Martin Goubej
Abstrakt EN: The paper deals with kineto-static analysis of the AGgressive Environment roBOT (AGEBOT). Serio-parallel kinematic architecture of AGEBOT plays important role in aggressive environment applications such as manipulation in industrial degreasing and paint removing lines in the presence of high pressure and temperature, acid or lye. Standard 4DoF seriál manipulator with PRRR joints is equipped with special 3 DoF parallel spherical wrist which makes possible to separate vulnerable components (motors, sensors) from the rest of the endeffector by a water-proof barrier. Inverse and direct kinematics are discussed. The algorithm for velocity, acceleration and static forces (gravity compensation) is derived. In the case of known inverse and direct position dependencies proposed algorithm can be generalized for an arbitrary serial or parallel manipulator.
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