Planning the optimal trajectory of the robot-machine parallel structure

Rybak, Larisa; Khalapyan, S. Y.; Kholoshevskaya, L. R.; Malyshev, Dmitry

doi:10.1063/1.5066528

Search citation statements

Order By: Relevance

Paper Sections

Select...

Citation Types

Supporting

Mentioning

Contrasting

Year Published

2019

2024

Publication Types

Select...

Article3

Other1

Relationship

Self Cite0

Independent4

Authors

Journals

Cited by 4 publications

References 1 publication

Supporting

Mentioning

Contrasting

Order By: Relevance

Dynamic model of a drive platform for a robotic harvesting system

Khurtasenko,

Chuev,

Cherkasov

et al. 2024

AIP Conference Proceedings

View full text Add to dashboard Cite

Dynamic model of a drive platform for a robotic harvesting system

Khurtasenko,

Chuev,

Cherkasov

et al. 2024

AIP Conference Proceedings

View full text Add to dashboard Cite

The study of the accuracy of the robot movement along a given path considering the workspace boundaries, velocity and inertial properties of the drive

Khalapyan¹,

Rybak

Kuzmina

et al. 2020

J. Phys.: Conf. Ser.

View full text Add to dashboard Cite

The paper considers the accuracy characteristics of a robot machine with a parallel structure as a control object. A specifically developed model of a planar 3-RPR mechanism with an electric drive based on a DC motor made it possible to experimentally study the dependence of the following robot output link accuracy according to the speed, weight and size characteristics of the drive and mechanism.

show abstract

Optimization of the trajectory of movement of a parallel robot based on a modified AСO algorithm

Rybak

Khalapyan²,

Malyshev

2019

IOP Conf. Ser.: Mater. Sci. Eng.

View full text Add to dashboard Cite

The article describes the use of a modified ACO algorithm to optimize the trajectory of a planar 3RPR robot. The trajectories of the motion of agents of the first generation were obtained in accordance with the classical and modified algorithm. The efficiency of using the modified trajectory planning algorithm was demonstrated, which made it possible to reduce the length of the original trajectories and the time required to process them. At the same time, in order to save time, the trajectories of movement obtained during its operation can be subjected to discrete local optimization. The result of the work of the algorithms is a set of tasks reflecting the change in each of the input coordinates of the mechanism over time, which can be directly used during the operation of the robot control system. A detailed description of the algorithm and the results of mathematical modeling are presented.

show abstract

Planning the optimal trajectory of the robot-machine parallel structure

Cited by 4 publications

References 1 publication

Dynamic model of a drive platform for a robotic harvesting system

Dynamic model of a drive platform for a robotic harvesting system

The study of the accuracy of the robot movement along a given path considering the workspace boundaries, velocity and inertial properties of the drive

Optimization of the trajectory of movement of a parallel robot based on a modified AСO algorithm

Contact Info

Product

Resources

About