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dc.contributor.authorŠvejda, Martin
dc.contributor.authorMyslivec, Tomáš
dc.contributor.authorGoubej, Martin
dc.date.accessioned2021-03-01T11:00:21Z-
dc.date.available2021-03-01T11:00:21Z-
dc.date.issued2019
dc.identifier.citationŠVEJDA, 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.cs
dc.identifier.isbn978-1-72813-179-5
dc.identifier.uri2-s2.0-85087640165
dc.identifier.urihttp://hdl.handle.net/11025/42747
dc.format6 s.cs
dc.format.mimetypeapplication/pdf
dc.language.isoenen
dc.publisherIEEE, Inc.en
dc.relation.ispartofseriesInformatics 2019en
dc.rightsPlný text není přístupný.cs
dc.rights© IEEEen
dc.titleCoordinated jogging algorithm for general serial robot architecturesen
dc.typekonferenční příspěvekcs
dc.typeconferenceObjecten
dc.rights.accessclosedAccessen
dc.type.versionpublishedVersionen
dc.description.abstract-translatedThe 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.en
dc.subject.translatedrapid prototypingen
dc.subject.translatedcoordinate joggingen
dc.subject.translatedREXYGEN control systemen
dc.subject.translatedmotion optimizationen
dc.subject.translatedobstacle and limitation avoidingen
dc.identifier.doi10.1109/Informatics47936.2019.9119259
dc.type.statusPeer-revieweden
dc.identifier.obd43929115
dc.project.IDFV10044/Výzkum a vývoj pokročilé kooperativní robotické platformy a její aplikace ve výrobě elektronických komponentcs
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Konferenční příspěvky / Conference Papers (KKY)
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