Summary
A review which discusses current work on the development of manipulators and industrial robots is made. A mathematical algorithm for the kinematical investigation of manipulators and hand/arm systems of robots is conceived on the basis of a vector-complex operator. Thus, the relation between the movement of the object to be manipulated and the relative motion of the manipulator (hand/arm) linkages is clarified, wherein the distribution of the velocities in the end linkage (the hand) is determined. The dynamical response of the object is simulated by a system of permanent point masses. Finally, an example describing an automatic handling arrangement in hot forging industrial environment is discussed.
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© 1974 Springer-Verlag Wien
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Kostantinov, M.S., Zankov, Z.I. (1974). A Kinematical Algorithm and Dynamical Point Mass Simulation Applied in Robots and Manipulators. In: On Theory and Practice of Robots and Manipulators. International Centre for Mechanical Sciences, vol 201. Springer, Vienna. https://doi.org/10.1007/978-3-7091-2993-7_6
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DOI: https://doi.org/10.1007/978-3-7091-2993-7_6
Publisher Name: Springer, Vienna
Print ISBN: 978-3-211-81252-5
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