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SOURCE:	Almanac of Modern Science and Education. Tambov: Gramota, 2013. № 10. P. 24-27.
SCIENTIFIC AREA:	Technical Sciences
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SOLUTION OF KINEMATICS DIRECT AND INVERSE PROBLEMS OF SIX-AXIS MANIPULATOR ORIGINAL PART

Balakin Pavel Dmitrievich, Shamutdinov Aidar Kharisovich
Omsk State Technical University

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

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References:

Balakin P. D., Shamutdinov A. Kh. Skhemnoe reshenie mekhanizma prostranstvennogo manipulyatora // Omskii nauchnyi vestnik. 2012. № 1. S. 65-69.

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