Coordinated jogging algorithm for general serial robot architectures
| dc.contributor.author | Švejda, Martin | |
| dc.contributor.author | Myslivec, Tomáš | |
| dc.contributor.author | Goubej, Martin | |
| dc.date.accessioned | 2021-03-01T11:00:21Z | |
| dc.date.available | 2021-03-01T11:00:21Z | |
| dc.date.issued | 2019 | |
| dc.description.abstract-translated | The paper deals with a novel functional block for general serial robot coordinate jogging. The functional block is implemented and integrated to the functional block library of the real-time control system REXYGEN and brings new possibilities of rapid prototyping and initial testing of advanced robot architectures. The robot kinematics is described by the Denavit-Hartenberg parameters. The common jogging mode of operation (world, tool) is supported as well as user-defined coordinate frames definition for specific applications. In the case of kinematic redundancy, the internal robot motion optimization is available allowing joint position limitation and/or obstacle avoidance. Maximum allowed joint velocity is taken into account in order to cope with the kinematic singularities. Illustrative examples of the early-prototype robot for industrial inspection purposes are introduced and universality of the proposed jogging functional block is verified. | en |
| dc.format | 6 s. | cs |
| dc.format.mimetype | application/pdf | |
| dc.identifier.citation | ŠVEJDA, M., MYSLIVEC, T., GOUBEJ, M. Coordinated jogging algorithm for general serial robot architectures. In: INFORMATICS 2019. New York: IEEE, Inc., 2019. s. 445-450. ISBN 978-1-72813-179-5. | cs |
| dc.identifier.doi | 10.1109/Informatics47936.2019.9119259 | |
| dc.identifier.isbn | 978-1-72813-179-5 | |
| dc.identifier.obd | 43929115 | |
| dc.identifier.uri | 2-s2.0-85087640165 | |
| dc.identifier.uri | http://hdl.handle.net/11025/42747 | |
| dc.language.iso | en | en |
| dc.project.ID | FV10044/Výzkum a vývoj pokročilé kooperativní robotické platformy a její aplikace ve výrobě elektronických komponent | cs |
| dc.publisher | IEEE, Inc. | en |
| dc.relation.ispartofseries | Informatics 2019 | en |
| dc.rights | Plný text není přístupný. | cs |
| dc.rights | © IEEE | en |
| dc.rights.access | closedAccess | en |
| dc.subject.translated | rapid prototyping | en |
| dc.subject.translated | coordinate jogging | en |
| dc.subject.translated | REXYGEN control system | en |
| dc.subject.translated | motion optimization | en |
| dc.subject.translated | obstacle and limitation avoiding | en |
| dc.title | Coordinated jogging algorithm for general serial robot architectures | en |
| dc.type | konferenční příspěvek | cs |
| dc.type | conferenceObject | en |
| dc.type.status | Peer-reviewed | en |
| dc.type.version | publishedVersion | en |