Proceedings Vol. 15 (2009)
ENGINEERING MECHANICS 2009
NATIONAL CONFERENCE WITH INTERNATIONAL PARTICIPATION
May 11 – 14, 2009, Svratka, Czech Republic
;
May 11 – 14, 2009, Svratka, Czech Republic
Editors: Jiří Náprstek and Cyril Fischer
Copyright © 2009 Institute of Theoretical and Applied Mechanics, Academy of Sciences of the Czech Republic, v.v.i., Prague
ISBN 978-80-86246-35-2 (printed, Extended Abstracts)
ISSN 1805-8248 (printed)
ISSN 1805-8256 (electronic)
ISSN 1805-8248 (printed)
ISSN 1805-8256 (electronic)
list of papers scientific commitee
Analytical solution of inverze task for robot with sixth rotational joints and its concrete utilization
V. Záda, A. Chatraie, D. Lindr
pages 1495 - 1502, full text
pages 1495 - 1502, full text
This paper presents an analytical solution inverse problem of industrial robot manipulator with sixth degree of freedom. Analytical solution is much better then numerical one, because it enables to compute internal coordinates in a short time. This fact is used for more precise computation of the trajectory, firstly the motion on abscissas, circles or general curves. Then it is presented a control algorithm, which uses kinematical equation.
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Text and facts may be copied and used freely, but credit should be given to these Proceedings.
All papers were reviewed by members of the scientific committee.
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