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Mathematical model of searching for optimal Euler angles for three-link manipulator engines

Petrenko Vyacheslav Ivanovich  (Candidate of Technical Sciences, Associate Professor, North-Caucasian Federal University, city of Stavropol)

Tebuueva Fariza Bilalona  (Doctor of Physical and Mathematical Sciences, Associate Professor, North-Caucasian Federal University, city of Stavropol)

Antonov Vladimir Olegovich  (Postgraduate student, North-Caucasian Federal University, city of Stavropol)

Gurchinsky Mikhail Andreevich  (North-Caucasian Federal University, city of Stavropol)

This paper presents the solution of the inverse problem of kinematics for three-member anthropomorphic manipulators with 7 degrees of mobility in the example of domestic robots of the AR-601, SAR-401, Fedor series. For the solution, a mathematical model has been developed for the search for optimal Euler angles for three-link anthropomorphic manipulator engines based on the given coordinates of nodal points. These angles are given in a matrix form by the Denavite-Hartenberg representation. Obtaining optimal values by the criterion of minimizing energy consumption is achieved by solving the problem of nonlinear optimization by the method of generalized reduced gradient.

Keywords:inverse problem of kinematics, manipulator of anthropomorphic robot, Euler angles, Denavite-Hartenberg representation, generalized reduced gradient.
 

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Citation link:
Petrenko V. I., Tebuueva F. B., Antonov V. O., Gurchinsky M. A. Mathematical model of searching for optimal Euler angles for three-link manipulator engines // Современная наука: актуальные проблемы теории и практики. Серия: Естественные и Технические Науки. -2018. -№03. -С. 67-74
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