Research work zones  manipulation robots based on the analysis of inertia parameters.

Oleg Krakhmalev; Dmitriy Petreshin

doi:doi:10.12737/23299

Research work zones manipulation robots based on the analysis of inertia parameters.

Published в Bulletin of Bryansk state technical university · Volume 2014, Issue 2, 2014 · Pages 31–37 · Rubrics: Mechanical engineering and transport

DOI 10.12737/23299

Received: 08.12.2016 Accepted: 08.12.2016 Published: 08.12.2016 Language of publication: RUS

Authors

Oleg Krakhmalev · Dmitriy Petreshin ² iD

2 Bryansk State Technical University (Educational-Scientific Technological Institute, Director)
Bryansk, Bryansk, Russian Federation

ABSTRACT

Is proposed optimization motion manipulation robots in the space of generalized coordinates based on the analysis of the inertial properties of robots.

KEYWORDS

manipulation robots dynamics simulation optimization of motion.

Information Text References

Authors:

2. Bryansk State Technical University (Educational-Scientific Technological Institute, Director)

Bryansk, Bryansk, Russian Federation

Type:

Article

Pages:

from 31 to 37

Status:

Published

Language:

Russian

Keywords:

manipulation robots, dynamics simulation, optimization of motion.

Text

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References

1. Krakhmalev, O. N. Optimization of the driving laws when modeling handling robots dynamics / O. N. Krakhmalev, D. M. Medvedev, D. I. Petreshin // Bulletin of Bryansk State Technical University. - 2014. -№1. - pp. 27-30.

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3. Krakhmalev, O. N. Mathematical modeling of handling systems dynamics of industrial robots and articulating cranes: Monograph / O. N. Krakhmalev. - Bryansk: BSTU, 2012. -200 p.

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7. Finatov, D. N. Mechanical assembly roboto-technological complex / D. N. Finatov, D. I. Petreshin, G. V. Goryachev // Metal working: technology, equipment, tools. - 2003. - No. 1. - pp. 4-6.

8. Petreshin, D. I. Functional enchancements of CNC machine tools when organizing PC and CNC connection in building of an adaptive control system / D. I. Petreshin, O. N. Fedonin, V. P. Fedorov, A. V. Handozhko, V. A. Handozhko // Bulletin of Bryansk State Technical University. - 2011. -№4. - pp. 4-9.

9. Petreshin, D. I. Application of a laser optical sensor control for measurement of high-altitude parameters of machines details surface roughness in self-learning adaptive technological system / D. I. Petreshin // Testing. Diagnostics. - 2009. - No. 11. - pp. 53-57.

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Research work zones manipulation robots based on the analysis of inertia parameters.

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