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Title: | Kinematics of trunk-like robots with piezo actuators |
Authors: | Augustaitis, Aistis Jūrėnas, Vytautas Kulvietis, Genadijus |
Keywords: | trunk-like robot astronautics piezo actuator spherical joint direct kinematics inverse kinematics geometric approach |
Issue Date: | 2028 |
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. |
URI: | http://dspace.vgtu.lt/handle/1/3626 |
ISSN: | 1392-1207 |
Appears in Collections: | Moksliniai straipsniai / Research articles
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