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Title: Kinematics of trunk-like robots with piezo actuators
Authors: Augustaitis, Aistis
Jūrėnas, Vytautas
Kulvietis, Genadijus
Keywords: trunk-like robot
piezo actuator
spherical joint
direct kinematics
inverse kinematics
geometric approach
Issue Date: 2018
Publisher: KTU
Citation: Augustaitis, A.; Jūrėnas, V.; Kulvietis, G. 2018. Kinematics of trunk-like robots with piezo actuators, Mechanika 24(2): 254–259
Series/Report no.: 24;2
Abstract: This paper presents the investigation of direct and inverse kinematics for piezo robot with spherical actuators. Two different actions of spherical piezo actuators are intro-duced. Several methods to solve inverse kinematics were analyzed. A geometric approach is chosen for solving the inverse kinematics, because it has a lot of advantages in ac-cordance to other methods. A theory and a concise algo-rithm to find the solutions of the inverse kinematics using the global projections of robot links is presented.
ISSN: 1392-1207
Appears in Collections:Moksliniai straipsniai / Research articles

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