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ISSUE:    Almanac of Modern Science and Education. 2013. Issue 10
COLLECTION:    Technical Sciences

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SOLUTION OF KINEMATICS DIRECT AND INVERSE PROBLEMS OF SIX-AXIS MANIPULATOR ORIGINAL PART

Pavel Dmitrievich Balakin
Omsk State Technical University

Aidar Kharisovich Shamutdinov
Omsk State Technical University
Submitted: October 15, 2013
Abstract. In this article kinematics direct and inverse problems of the six-axis manipulator original part are solved geometrically. It allows determining the position of the manipulator executive element for each time moment and choosing a load scheme for fixing the forces, which act on the manipulator.
Key words and phrases:
манипулятор
рабочий стол
стержень
прямая и обратная задачи кинематики
абсолютная система координат
обобщенные координаты
рабочий орган манипулятора
manipulator
work table
rod
kinematics direct and inverse problems
system of absolute coordinates
generalized coordinates
manipulator work member
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References:
  1. Балакин П. Д., Шамутдинов А. Х. Схемное решение механизма пространственного манипулятора // Омский научный вестник. 2012. № 1. С. 65-69.
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