Title:	Coordinated jogging algorithm for general serial robot architectures
Authors:	Švejda, Martin Myslivec, Tomáš Goubej, Martin
Citation:	ŠVEJDA, M., MYSLIVEC, T., GOUBEJ, M. Coordinated jogging algorithm for general serial robot architectures. In: INFORMATICS 2019. New York: IEEE, Inc., 2019. s. 445-450. ISBN 978-1-72813-179-5.
Issue Date:	2019
Publisher:	IEEE, Inc.
Document type:	konferenční příspěvek conferenceObject
URI:	2-s2.0-85087640165 http://hdl.handle.net/11025/42747
ISBN:	978-1-72813-179-5
Keywords in different language:	rapid prototyping;coordinate jogging;REXYGEN control system;motion optimization;obstacle and limitation avoiding
Abstract in different language:	The paper deals with a novel functional block for general serial robot coordinate jogging. The functional block is implemented and integrated to the functional block library of the real-time control system REXYGEN and brings new possibilities of rapid prototyping and initial testing of advanced robot architectures. The robot kinematics is described by the Denavit-Hartenberg parameters. The common jogging mode of operation (world, tool) is supported as well as user-defined coordinate frames definition for specific applications. In the case of kinematic redundancy, the internal robot motion optimization is available allowing joint position limitation and/or obstacle avoidance. Maximum allowed joint velocity is taken into account in order to cope with the kinematic singularities. Illustrative examples of the early-prototype robot for industrial inspection purposes are introduced and universality of the proposed jogging functional block is verified.
Rights:	Plný text není přístupný. © IEEE
Appears in Collections:	Konferenční příspěvky / Conference papers (NTIS) Konferenční příspěvky / Conference Papers (KKY) OBD

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