ترجمه مقاله مشخص کردن مرز فضای فعال بازوهای مکانیکی به هم وصل شده
چکیده بخشی از مقاله انگلیسی
Ghyrykjanbh analytical algorithms developed and extensively with the restrictions described. Jacobi row inefficient method for determining the order of the singularity (uniqueness) used the robotic arms. There are four types of singularities: Type 1: singular Jacobi position; type 2: the singularity is due to a generalized connection that reaches its apex; Type 3: Takin border territory, in connection with the initial and final values matrix is time for both events; type 4: Takin conjugate, which is singular in relation to the relative Jacobi, an empty space on one of Zyrmatrys reduced due to two events: type 2 and type 3 singular. All levels are above levels that are singularities that are internal and external work space to expand coverage. Takin Takin levels to identify intersection curves which deals fencing singularities levels at sub-pays, and perturbation method to identify areas (of the curve / patch level) above the level on the border are used place. The formula to implement it with three degrees of spatial freedom (DOF) and 4 degrees of spatial freedom mechanical arm will be explained
توضیحات
عنوان انگلیسی مقاله: On the workspace boundary determination of serial manipulators with non-unilateral constraints
عنوان فارسی مقاله: تعیین مرز فضای کاری بازوهای مکانیکی زنجیره ای با محدودیت های غیریکجانبه
دسته: رباتیک
فرمت فایل ترجمه شده: WORD (قابل ویرایش)
تعداد صفحات فایل ترجمه شده: ۲۸
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