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- W3109388943 abstract "Currently, robots are used not only for carrying out technological operations, but also in other areas of human activity. These operations require high positioning accuracy of the manipulator gripper. The purpose of the article is to develop technique of evaluation kinematic scheme of manipulation robot in terms of accuracy of gripper positioning, suggest design technique based on required accuracy of gripper positioning, as well as determine optimal positions of manipulator links from condition of minimum positioning error. If the number of degrees of freedom of the manipulation mechanism is more than three, exit to a given point of space can be carried out in several ways, depending on the order of change of generalized coordinates. The amount of positioning error may take different values in the service area for the same positioning point for different configurations of the manipulation mechanism. It is proposed to estimate errors as norm of deviations for any configuration of links of manipulator actuator forming open kinematic chain with kinematic pairs of the fifth class. The norm of coordinate deviations is a function of generalized coordinates of the manipulator, their deviations and lengths of links, and can have maxima and minima in the area of changing these parameters. Based on the minimum values of the norm of coordinate deviations, it is possible to define intermediate points of trajectory and find the optimal configuration of the manipulation mechanism. The example given have confirmed efficiency of the proposed technique with optimal planning of movement of the manipulation mechanism." @default.
- W3109388943 created "2020-12-07" @default.
- W3109388943 creator A5034813073 @default.
- W3109388943 date "2020-11-17" @default.
- W3109388943 modified "2023-09-27" @default.
- W3109388943 title "Evaluation of Positioning Accuracy of Manipulation Mechanism" @default.
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- W3109388943 doi "https://doi.org/10.1109/glosic50886.2020.9267853" @default.
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