Modeling of manipulator grip reaches with regard to generalized coordinate constraints

Authors:

M.D.Koshovyi, orcid.org/0000-0001-9465-4467, National Aerospace University Kharkiv Aviation Institute, Kharkiv, Ukraine, e-mail: This email address is being protected from spambots. You need JavaScript enabled to view it.

N.S.Ashhepkova, orcid.org/0000-0002-1870-1062, Oles Honchar Dnipro National University, Dnipro, Ukraine, e-mail: This email address is being protected from spambots. You need JavaScript enabled to view it.

A.S.Luchko, orcid.org/0000-0003-2431-5819, Oles Honchar Dnipro National University, Dnipro, Ukraine, e-mail: This email address is being protected from spambots. You need JavaScript enabled to view it.

повний текст / full article

Naukovyi Visnyk Natsionalnoho Hirnychoho Universytetu. 2022, (1): 123 - 127

https://doi.org/10.33271/nvngu/2022-1/123

Abstract:

Purpose. Maintaining operational characteristics when using the robot in extreme conditions and ensuring the reach of the grasp of the manipulator, despite the limitations of the generalized coordinates.

Methodology. The kinematic analysis of the manipulator is carried out on the basis of coordinate transformation by the Denavit Hartenberg method. Polynomial laws of change in generalized coordinates are considered taking into account restrictions in the actuators of kinematic pairs.

Findings. Algorithms for the kinematic analysis of the manipulator have been developed taking into account the constraints of the generalized coordinates, which in real time make it possible to adjust the control actions on the actuator drives for the successful implementation of software technological operations.

Originality. A technique for solving problems of manipulator kinematics is proposed, taking into account the limitations of many permissible values, drive power and friction coefficients for all generalized coordinates. This allows, in contrast to the known techniques, determining in real time the actual coordinates, positioning accuracy and reach of the gripper, implemented considering the arisen limitations of the generalized coordinates.

Practical value. The research results can be used at the stage of design, implementation, modernization and operation of manipulators. At the design stage, simulation of the manipulator movement, with considering the constraints of the generalized coordinates, makes it possible to optimize the parameters of the kinematic scheme of the manipulator. For autonomous manipulative mobile robots operating in extreme conditions, the developed software makes it possible to carry out kinematic analysis, adjust the target function of the adaptive control system, synthesize control actions on the actuator drives, and implement software technological operations, despite the arisen limitations of generalized coordinates.

Keywords: robot manipulator, kinematic diagram, gripper pole, coordinate transformation, workspace, reach limits

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