Autor: Reclik, D. - Katalog OPAC zbiorów

Skocz do pozycji: 1.

Tytuł:: The 2 ½D algorithm in robot workspace analysis
Autorzy:: Kost, G.
Reclik, D.
Powiązania:: https://bibliotekanauki.pl/articles/386291.pdf
Data publikacji:: 2008
Wydawca:: Politechnika Białostocka. Oficyna Wydawnicza Politechniki Białostockiej
Tematy:: algorytm 2 1/2 D
robotyka
algorytm Floyd'a
2 1/2 D algorithm
robotics
Floyd’s algorithm
Opis:: In this paper there is presented the method of 3D manipulator’s workspace analysis. The analysis of robot’s work-space is necessary for generation the safety movement path. There was 2 ˝ D method, which is based on algorithm of following sections defining in robot work area. Those sections are explored by flat analysis, but the results are transposed into graph form. This graph is the record of all possible movements, so to get the optimum movement there must be used Floyd’s algorithm. This, shortest trace is optimized and smoothed by using B-Spline curves.
Źródło:: Acta Mechanica et Automatica; 2008, 2, 3; 65-70
1898-4088
2300-5319
Pojawia się w:: Acta Mechanica et Automatica
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 2.

Tytuł:: A rational B-Spline curves in robot collision - free movement planning
Autorzy:: Reclik, D.
Kost, G. G.
Powiązania:: https://bibliotekanauki.pl/articles/384235.pdf
Data publikacji:: 2008
Wydawca:: Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Tematy:: robot's motion planning
non-collision trajectory
NURBS and B-Spline curves
Opis:: In this paper there is described the using of 2D robot workspace analysis method with smoothing process by using B-Spline curves [7]. The robot workspace analysis is necessary to generate the collision-free movement paths. This paper is connected with a project, which will be ended with fully functional added application in robot off-line programming. In the last part of this project the authors created the motion planner based on grading function and Markov chains. This planner allows determining the collision-free trajectory of robot bunch. Determining the collision-free trajectory generates a lot of step functions – all movements were possible in only one direction (parallel to Cartesian axes) [1,7]. The worked out planner choose the best path – by shortest movement length or shortest movement time criterion. Achieved path is optimised and smooth by using NURBS and B-Spline curves [2,4,5], which is the main goal of this paper. Smoothing and time-function making is very important, because it allows getting the speed and acceleration data, which are necessary in robot controlling. B-Spline curves fulfil continuous first and second derivate condition. Another advantage of using B-Spline is a possibility to enlarge the movement quality by using the minimal acceleration criteria. This allows growing the steadiness of movement.
Źródło:: Journal of Automation Mobile Robotics and Intelligent Systems; 2008, 2, 3; 38-42
1897-8649
2080-2145
Pojawia się w:: Journal of Automation Mobile Robotics and Intelligent Systems
Dostawca treści:: Biblioteka Nauki

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