TY - GEN
A1 - Dulęba, Ignacy
A2 - Korbicz, Józef - red.
A2 - Uciński, Dariusz - red.
PB - Zielona Góra: Uniwersytet Zielonogórski
N2 - A kinematic approximation of the nominal, reference kinematics of a manipulator is addressed. The approximation task leads to a minimax optimization problem. Some modifications facilitating the implementation of the algorithm in search spaces of high dimensionalities are presented. A sub-gradient mesh algorithm of solving the minimax task is given in detail. The approximation of the CYBOTECH manipulator with a ULB robot is provided based on the use of the Chebyshev metric. As an alternative, some measures of proximity of manipulators are also introduced.
L1 - http://www.zbc.uz.zgora.pl/Content/58740/AMCS_2000_10_3_9.pdf
L2 - http://www.zbc.uz.zgora.pl/Content/58740
KW - manipulator
KW - kinematics
KW - approximation
KW - metrics
KW - ULB robot
T1 - Kinematic approximation of robotic manipulators
UR - http://www.zbc.uz.zgora.pl/dlibra/docmetadata?id=58740
ER -