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Solving the Direct Kinematics Problem of the Mechanical Manipulator of an Unmanned Aircraft
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| Author: | Безбородова Оксана Евгеньевна | |
| Annotation: | The study objective is designing and controlling the configuration of a manipulator mounted on an unmanned aerial vehicle intended for certain rescue operations. The objective stated is reduced to solving direct and inverse kinematic problems. The apparatus of homogeneous transformation matrices and the description of generalized manipulator configuration characteristics represented by the Denavit-Hartenberg parameters are used. For the manipulator considered, the direct kinematics problem is also solved using the recursive algorithm technique. The authors propose an algorithm for controlling the manipulator configuration by solving the inverse kinematic problem. The algorithm involves determining the generalized characteristics of the end-effector and its parent segmentsas well as orienting and space positioning the intermediate effector (in particular, the manipulator forearm turninglink) and its parent segments with further orienting and positioningof its child segments (including the manipulator’s end-effector). It allows optimally configuringthe manipulator links with the consideration of particular rescue operation conditions (such as obstacles in the working area, orientation and position of the manipulated object). | |
| Type: | Article | |
| Kind: | Electronic copy | |
| Parts: | 1 | |
| The year of publishing: | 2022 | |
| Publishing house: | IOP Conference Series | |
| The target audience: | Researcher | |
| Special purpose: | Scientific | |
| Copyright holder: | Безбородова О.Е. | |
| Bibliographic reference: | Sherstnev, Vladislav & Bezborodova, Oksana & Spirkin, Andrew & Bodin, Oleg & Kholudeneva, Alina. (2022). Solving the Direct Kinematics Problem of the Mechanical Manipulator of an Unmanned Aircraft. 560-563. 10.1109/EDM55285.2022.9855080. | |
| Language: | English | |
| Post date: | 16.11.2022 |