Determination of target points approachability by an android robot arm in organized space based on virtual modeling of movements
Определение достижимости целевых точек рукой робота-андроида в организованном пространстве на основе виртуального моделирования движений
2019-08-01
SCID: 54.1/bhgenaym
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allowable positioning accuracyandroid robot armforbidden zonesorganized spacevirtual modeling
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Abstract (AI)
The paper proposes a method for overcoming deadlocks in implementation of the android arm mechanism movement in an organized space in the vector of velocities. The proposed method is based on the calculation of the allowable positioning accuracy of the output link center in order to change the position of the arm configuration relative to the forbidden zones with a deviation from the specified trajectory. An algorithm based on this method is proposed, and an implementation of a test case confirming the functional check of this algorithm is presented.
Key Findings
1
A method is proposed to overcome velocity-vector deadlocks during android robot-arm motion in organized spaces.
2
A test-case implementation functionally confirms the proposed algorithm.
3
An algorithm implementing the proposed approach is developed for assessing target-point approachability by the android arm.
4
The method calculates allowable positioning accuracy for the output-link center, enabling configuration changes near forbidden zones while deviating from the prescribed trajectory.
Research Object
android robot arm moving in organized space
Research Subject
target-point approachability and deadlock avoidance through allowable positioning accuracy and trajectory deviation
Publication Details
Publication Date
2019-08-01
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