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RoManSy 6 pp 555-563 | Cite as

Application of -Coordinates in Robotics

  • A. Sh. Koliskor
  • V. I. Sergeyev

Summary

The keypoint of -coordinates is the specification of a free rigid body’s position and motion in space by 6 distances between the points of the body and the points of the fixed base. The motion equations in the -coordinates are uniform and expose the six corresponding segment lengths’ time dependence.

This paper covers the -coordinate design method in the field of robotics mechanical design, controls, sensors and inspection as well as patented technical solutions. The developments are illustrated by an industrial robot with 30 degrees of freedom, a navigational robot with end-effector, six absolute frame coordinates feedback, six component force sensor and a navigational gripper’s path recording system for assessment and diagnostics.

The application of the -coordinate developments in robotics are capable of further advances.

Keywords

Industrial Robot Spherical Joint Ball Joint Relay Control Absolute Frame 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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References

  1. 1.
    Koliskor A.Sh. The ℓ-coordinates approach to the industrial robots design and assesment. Machines & Tooling, 1982, 12.Google Scholar
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    Arzumanjen K.S.,Koliekor A.Sh.,Sergeev Y.I. FMB robotomodules structural synthesis. The Design and Operation Grob-lems of FMB in Machinery. Thesisies, Y1. Vilnus. 1984Google Scholar
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    Danylevsky Y.N. Manipulator. USSR patent 558788, Bul. 19, 1977Google Scholar
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    Warnecke H.I.,Brohdeck B.,Schiele G. Results of the examination of industrial robots on a test stand. Proceedings of the Fifth World Congress on Theory of Machines and Mechanisms, 1979, p. 816–820Google Scholar
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    Koliskor A.Sh. The industrial robot control system. USSR patent 112767, Bul. 45, 1984.Google Scholar
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    Koliskor A.Sh. Force and moment sensor. USSR patent 974155, Bu1. 42, 1982.Google Scholar
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    Daieh D.M., Koliskor A.Sh., Sergeyev Y.I. Spatial dislocations measuring system. USSR patent 1040318, Bu1. 33, 1983.Google Scholar

Copyright information

© Hermes, Paris 1987

Authors and Affiliations

  • A. Sh. Koliskor
    • 1
  • V. I. Sergeyev
    • 1
  1. 1.Academy of SciencesMechanical Engineering Research InstituteMoscowUSSR

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