| Title |
Straublio tipo roboto valdymo algoritmo sukūrimas ir tyrimas / |
| Translation of Title |
Development and research of a trunk-type robot control algorithm. |
| Authors |
Matukaitis, Mindaugas |
| Full Text |
|
| Pages |
62 |
| Keywords [eng] |
trunk-type robot ; control ; programming |
| Abstract [eng] |
The aim of the master‘s final project is to present the control algorithm of the three segments trunk type robot, which, by specifying the coordinates of the task point and the third segment orientation, would find the bending and rotation angles of all three robot segments. This final project analyzes the construction, different methodology approaches and working principle of a trunk type robot. This text presents forward and inverse kinematics and related methods of the trunk type robot. Author proposes a vector-based solution to solve three-segment trunk type robot inverse kinematics problem in a two-dimensional and three-dimensional coordinates systems. The three-segment trunk type robot control algorithm uses vector method approach for solving the inverse kinematics problem. |
| Dissertation Institution |
Kauno technologijos universitetas. |
| Type |
Master thesis |
| Language |
Lithuanian |
| Publication date |
2020 |
