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- W2043671019 abstract "A compact simplified kinematic synthesis procedure is presented to carry out the inverse velocity and acceleration analysis of a general serial robot's manipulator arms. The method uses tensor notation and some important mathematical reductions and manipulations to reveal simple recurrence formulas which are useful to solve the inverse problem. The procedure saves the computing time to a great extent in comparison with the other techniques available, such as the inverse Jacobian method. In this analysis the inverse kinematic quantities expressing the joint motors velocities and accelerations are related to the absolute velocities and accelerations of the end-effector using a set of linear algebraic equations. Therefore, the solution of this set of linear algebraic equations leads to a direct and unique solution for any non-redundant robot's manipulators. For the purpose of illustration, three numerical example problems describing three and six degrees of freedom serial robot's manipulator arms are considered. Vereinfachte Kompaktierungsverfahren Kinematischer Synthese werden zur Durchfuhrung der inversen Geschwindigkeiten und Beschleunigungsanalyse fur eine generallen Manipulatorarmenreihe dargestellt. Die Methode benutzt die Tensornotation, mathematischen Einfluβreduzierungen und -vmformen zur Angebung einfachten Rekursionsformeln, die nutzbar zur Losung der inverse Probleme sind. Das Verfahren spart die Berechnungszeit zur groβe Ausdehnung im Vergleich mit anderen verwendbaren Technike, z.B. die inverse Jacobian-Methode. Die inverse Kinematische Quantitaten der Motor-gelenkpunklgeschwindigkeiten und -beschleunigungen sind im Verhaltnis zur absoluten geschwindigkeiten und beschleunigungen des End-effektores (Stellgliedes) mit der Benutzung einer linearen algebraischen Gleichungen. Deswegen fuhrt die Losung dieser Gleichungen zu Direkt und eindeutiger Losung fur irgend nichtredundant Manipulator. Zur Erlauterung werden drei numerische Beispielen mit drei und sechs Freiheitsgrade fur die Manipulatorarmenreihe beachtet." @default.
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- W2043671019 date "1993-05-01" @default.
- W2043671019 modified "2023-10-18" @default.
- W2043671019 title "A compact kinematic synthesis procedure for serial robot's manipulator arms" @default.
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- W2043671019 doi "https://doi.org/10.1016/0094-114x(93)90079-b" @default.
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