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Fundamentinių mokslų fakultetas / Faculty of Fundamental Sciences >
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Please use this identifier to cite or link to this item:
http://dspace.vgtu.lt/handle/1/3626
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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: | 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. |
| URI: | http://dspace.vgtu.lt/handle/1/3626 |
| ISSN: | 1392-1207 |
| Appears in Collections: | Moksliniai straipsniai / Research articles
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