| dc.contributor.author | Augustaitis, Aistis | |
| dc.contributor.author | Kulvietis, Genadijus | |
| dc.date.accessioned | 2023-09-18T16:54:26Z | |
| dc.date.available | 2023-09-18T16:54:26Z | |
| dc.date.issued | 2017 | |
| dc.identifier.issn | 1822-2951 | |
| dc.identifier.uri | https://etalpykla.vilniustech.lt/handle/123456789/118021 | |
| dc.description.abstract | This paper presents the investigation of direct and inverse kinematics for piezo robot with spherical joints. Firstly two different kinds of actions of spherical piezo actuators are introduced including the approaches of defining direct kinematics. Several methods to solve inverse kinematics were analyzed. Geometric approach is chosen for solving inverse kinematics because it has a lot of advantages in accordance to other methods. Theory for defining the solution of the inverse kinematics using global projections of robot links is presented. A concise algorithm using proposed approach for the solution of the inverse kinematics is shown. | eng |
| dc.format.extent | p. 9-16 | |
| dc.format.medium | tekstas / txt | |
| dc.language.iso | eng | |
| dc.subject | FM03 - Fizinių, technologinių ir ekonominių procesų matematiniai modeliai ir metodai / Mathematical models and methods of physical, technological and economic processes | |
| dc.title | Kinematics of trunk-like robots using D-H homogeneous transformation | |
| dc.type | Straipsnis recenzuotame konferencijos darbų leidinyje / Paper published in peer-reviewed conference publication | |
| dcterms.references | 12 | |
| dc.type.pubtype | P1d - Straipsnis recenzuotame konferencijos darbų leidinyje / Article published in peer-reviewed conference proceedings | |
| dc.contributor.institution | Vilniaus Gedimino technikos universitetas | |
| dc.contributor.faculty | Fundamentinių mokslų fakultetas / Faculty of Fundamental Sciences | |
| dc.subject.researchfield | T 009 - Mechanikos inžinerija / Mechanical enginering | |
| dc.subject.researchfield | N 001 - Matematika / Mathematics | |
| dc.subject.researchfield | N 009 - Informatika / Computer science | |
| dc.subject.ltspecializations | L104 - Nauji gamybos procesai, medžiagos ir technologijos / New production processes, materials and technologies | |
| dc.subject.en | Trunk-like robot | |
| dc.subject.en | Piezo actuator | |
| dc.subject.en | Spherical joint | |
| dc.subject.en | Direct and inverse kinematics | |
| dc.subject.en | Geometric approach | |
| dcterms.sourcetitle | Mechanika 2017 : proceedings of the 22nd international scientific conference, 19 May 2017, Kaunas University of Technology, Lithuania / Kaunas University of Technology, Lithuanian Academy of Science, IFTOMM National Committee of Lithuania, Baltic Association of Mechanical Engineering | |
| dc.publisher.name | Kauno technologijos universitetas | |
| dc.publisher.city | Kaunas | |
| dc.identifier.elaba | 23319325 | |
