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https://doi.org/10.2498/cit.2002.02.06

Some Considerations on the Self-Motion Curves of a Planar 3R Manipulator

Jadran Lenarčič

Puni tekst: engleski, pdf (337 KB) str. 125-131 preuzimanja: 358* citiraj
APA 6th Edition
Lenarčič, J. (2002). Some Considerations on the Self-Motion Curves of a Planar 3R Manipulator. Journal of computing and information technology, 10 (2), 125-131. https://doi.org/10.2498/cit.2002.02.06
MLA 8th Edition
Lenarčič, Jadran. "Some Considerations on the Self-Motion Curves of a Planar 3R Manipulator." Journal of computing and information technology, vol. 10, br. 2, 2002, str. 125-131. https://doi.org/10.2498/cit.2002.02.06. Citirano 01.03.2021.
Chicago 17th Edition
Lenarčič, Jadran. "Some Considerations on the Self-Motion Curves of a Planar 3R Manipulator." Journal of computing and information technology 10, br. 2 (2002): 125-131. https://doi.org/10.2498/cit.2002.02.06
Harvard
Lenarčič, J. (2002). 'Some Considerations on the Self-Motion Curves of a Planar 3R Manipulator', Journal of computing and information technology, 10(2), str. 125-131. https://doi.org/10.2498/cit.2002.02.06
Vancouver
Lenarčič J. Some Considerations on the Self-Motion Curves of a Planar 3R Manipulator. Journal of computing and information technology [Internet]. 2002 [pristupljeno 01.03.2021.];10(2):125-131. https://doi.org/10.2498/cit.2002.02.06
IEEE
J. Lenarčič, "Some Considerations on the Self-Motion Curves of a Planar 3R Manipulator", Journal of computing and information technology, vol.10, br. 2, str. 125-131, 2002. [Online]. https://doi.org/10.2498/cit.2002.02.06

Sažetak
In this article, we evaluate the self-motion curves of a 3R planar manipulator possessing one-degree-ofredundancy, different link lengths and joint limits. We demonstrate that one or two self-motion curves correspond to a given combination of values of primary task coordinates. Because of the manipulator’s mechanical restrictions, the self-motion can at one time be realized within one curve and the manipulator cannot switch to another curve without violating the constraints of the primary task. Partition of the self-motion domain into disconnected curves can disrupt the control process and thus decrease the ability of the manipulator to solve secondary tasks in the best possible way. We display and discuss the self-motion curves of this manipulator solving two different primary tasks.

Hrčak ID: 44791

URI
https://hrcak.srce.hr/44791

Posjeta: 481 *