Formulation of proper and efficient algorithms for robot kinematics is essential the analysis design serial manipulators. Kinematic modeling manipulators most often performed in Cartesian space. However, due to disadvantages widely used mathematical constructs description orientation such as Euler angles rotational matrices, a need unambiguous, compact, singularity free, computationally method representing information imposed. As solution, unit quaternions are proposed kinematic dual...

An algorithm for reducing the influence of geometrical, thermal, kinematic and stiffness errors in five-axis machine tool components on desired position orientation is given. This new based calculation cutting error matrix orthogonal tools. In model this matrix, all angular links are considered as infinitesimal rotations. The a function commanded component positions these positions. To correct three translational two positions, multiplied by inverse every period trajectory interpolation....

The framework for Cyber-Physical Manufacturing Metrology Model (CPM3), are based on integration of digital product metrology information through features recognition, and generation global/local inspection plan CMM. As the identification compensation errors machine tools could significantly enhance their accuracy thus improve quality parts produced with them, proposed Cyber- Physical (CPM3) includes error as well. An efficient methodology to calibrate tool geometric is given herein. This...

Aircrew of a modern combat aircraft is exposed to hazardous effects high G-forces and angular velocities. In order protect human lives avoid material losses, High-G training in centrifuge used artificially increase accelerative force under controlled conditions. this paper, modeled as 3 DoF revolute robot manipulator with planetary, roll pitch axis. Pilot seat last unit manipulator. Control system obtained by adding new functionalities for flight simulation control programming previously...

Preliminary note

Abstract To achieve predefined Gz load profile in high G training human centrifuge, it is necessary to determine angular velocity and acceleration of a planetary axis (centrifuge arm). Initial value problem that can not be solved closed form was obtained. Several discretization methods for calculating centrifuge arm driven by DC servo motor are presented. Simulations performed different positive negative values onset. (© 2013 Wiley‐VCH Verlag GmbH & Co. KGaA, Weinheim)

Summary This paper presents advantages of using open architecture for the real-time control robot manipulators, parallel kinematics machine tools and other multi-axis machining systems. In order to increase their competitiveness, companies need follow global economy requirements. The constant incorporation new technologies into existing controllers reduction in development time costs are main objectives. An (OAC) concept appears as a solution deal with these article explains rationale OAC...

Augmented reality (AR) and internet of things (IoT), technologies that have recently expanded in various fields theory, scientific researches, business practice, provide innovative approach for development projects their implementation.In this paper, one the implementation is undertaken as an experimental use case, applied on a simplified robotic model centrifuge pilot training flight simulation.An AR/IoT mobile app designed to be developed two phases.The first phase finished, second under...

In the process of defining commands and developing algorithms for movements complex massive devices, such as human centrifuge, it is unsafe demanding to perform testing on real machine. Getting overview devices operations might be great importance especially before final realization. This paper presents a system programming simulation centrifuge motion with integrated 3D simulator. The simulator used verification newly defined new motion.

This paper presents a dynamic model-based design of control system and an approach toward drive selection centrifuge motion simulator (CMS).The objective the presented method is to achieve desired performance while taking into account complexity overall device cost.An estimation interaction interconnected CMS links motions performed using suitable inverse dynamics simulation.An algorithm based on approximate model used within method.The actuator's mechanical subsystem includes effective...

This paper presents a proposed approach to the classification of rolling element bearing faults. The consists vibration signal acquisition, digital processing, feature extraction from and into functional or defective bearing. Digital processing includes decomposition de-nosing using wavelets. An 18-dimensional vector is obtained as result extraction. Characterization each recorded performed by combination signal's time varying statistical parameters characteristic fault frequency components....

This paper proposes a new method for computing the grasping forces of object grasped by multiple cooperating manipulators or multifingered robot hand. The intention is to find that ensure safe grasp on during arbitrary manipulation. should be with minimal internal loading object. finger/object contacts are treated as surface Coulomb friction. Consequently, contact friction moments not being ignored. predicts magnitude inwardly directed normal components forces. These and tangential...

Abstract This paper presents the kinematic characteristics of a human centrifuge for pilot training. The focus is placed on influence tangential acceleration performances. main planetary motion expressed with an ordinary first‐order nonlinear differential equation, which solved numerically. (© 2013 Wiley‐VCH Verlag GmbH & Co. KGaA, Weinheim)