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Computer algebra for solving dynamics problems of piezoelectric robots with large number of joints

dc.contributor.authorKulvietis, Genadijus
dc.contributor.authorBansevičius, Ramutis Petras
dc.contributor.authorČepulkauskas, Algimantas
dc.contributor.authorKulvietienė, Regina
dc.date.accessioned2023-09-18T17:26:44Z
dc.date.available2023-09-18T17:26:44Z
dc.date.issued2011
dc.identifier.issn1392-8716
dc.identifier.other(BIS)KTU02-000045347
dc.identifier.urihttps://etalpykla.vilniustech.lt/handle/123456789/123160
dc.description.abstractThe application of general control theory to complex mechanical systems represents an extremely difficult problem. If industrial piezoelectric robots have large number of joints, development of new control algorithms is unavoidable in order to achieve high positioning accuracy. The efficiency of computer algebra application was compared with the most popular methods of forming the dynamic equations of robots in real time. To this end, a computer algebra system VIBRAN was used. Expressions for the generalized inertia matrix of the robots have been derived by means of the computer algebra technique with the following automatic program code generation. As shown in the paper, such application could drastically reduce the number of floating point product operations that are required for efficient numerical simulation of piezoelectric robots.eng
dc.formatPDF
dc.format.extentp. 186-194
dc.format.mediumtekstas / txt
dc.language.isoeng
dc.relation.isreferencedbyScopus
dc.relation.isreferencedbyScience Citation Index Expanded (Web of Science)
dc.relation.isreferencedbyAcademic Search Complete
dc.relation.isreferencedbyComputers & Applied Sciences Complete
dc.rightsLaisvai prieinamas internete
dc.source.urihttps://www.jvejournals.com/article/10454
dc.source.urihttps://talpykla.elaba.lt/elaba-fedora/objects/elaba:3138403/datastreams/MAIN/content
dc.titleComputer algebra for solving dynamics problems of piezoelectric robots with large number of joints
dc.typeStraipsnis Web of Science DB / Article in Web of Science DB
dcterms.licenseCreative Commons – Attribution – 4.0 International
dcterms.references18
dc.type.pubtypeS1 - Straipsnis Web of Science DB / Web of Science DB article
dc.contributor.institutionVilniaus Gedimino technikos universitetas
dc.contributor.institutionKauno technologijos universitetas
dc.contributor.facultyFundamentinių mokslų fakultetas / Faculty of Fundamental Sciences
dc.subject.researchfieldT 007 - Informatikos inžinerija / Informatics engineering
dc.subject.researchfieldT 009 - Mechanikos inžinerija / Mechanical enginering
dc.subject.encomputer algebra
dc.subject.enpiezoelectric robots
dc.subject.enreal time dynamics
dc.subject.ennumerical-symbolic computation
dcterms.sourcetitleJournal of Vibroengineering
dc.description.issueiss. 2
dc.description.volumevol. 13
dc.publisher.nameVibromechanika
dc.publisher.cityVilnius
dc.identifier.doiVGT02-000022688
dc.identifier.doi000292072600006
dc.identifier.doi1
dc.identifier.doi2-s2.0-84860109080
dc.identifier.doi61923823
dc.identifier.elaba3138403


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