Determination of spherical curve defining the angle of service of android robot arm by method of small motions synthesis
Определение сферической кривой, задающей угол обслуживания руки андроидного робота, методом синтеза малых движений
2018-01-01
SCID: 54.1/4ej5m48n
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Abstract (AI)
A generalized method for determining the angle of service based on the synthesis of motions in the specified directions of the gripper’s axis with immobile center is presented. As an example, the angle of the android robot’s arm is defined, formed by the longitudinal axis of the gripper. The essence of the method is based on the study of position’s sets of configurations defining the extreme positions of the points of a sphere of unit radius that specifies the angle of the service. On the basis of this, a spherical curve defining the shape of the desired angle is defined
Key Findings
1
A generalized method determines a robot gripper’s service angle by synthesizing small motions in specified directions while keeping the gripper-axis center immobile.
2
Applied to an android robot arm, the method defines the spherical curve formed by the gripper’s longitudinal axis and thereby determines the angle’s shape.
3
The method analyzes configuration sets corresponding to extreme positions of points on a unit sphere representing the service angle.
Research Object
the android robot arm and its gripper with an immobile center
Research Subject
the spherical curve and service-angle shape determined from the extreme gripper-axis orientations using small-motion synthesis
Publication Details
Publication Date
2018-01-01
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