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		<identifier>oai:zbc.uz.zgora.pl:57372</identifier>
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<dc:title xml:lang="pl"><![CDATA[Links and actuators kinematics of IRb-6 manipulator]]></dc:title>
<dc:creator><![CDATA[Szkodny, Tadeusz]]></dc:creator>
<dc:subject xml:lang="pl"><![CDATA[sterowanie]]></dc:subject>
<dc:subject xml:lang="pl"><![CDATA[sterowanie-teoria]]></dc:subject>
<dc:subject xml:lang="pl"><![CDATA[sztuczna inteligencja]]></dc:subject>
<dc:subject xml:lang="pl"><![CDATA[matematyka stosowana]]></dc:subject>
<dc:subject xml:lang="pl"><![CDATA[informatyka]]></dc:subject>
<dc:description xml:lang="pl"><![CDATA[A fundamental problem in industrial robots control concerns algorithms generating reference trajectories. In the papers (Gerke, 1985; Gousenes, 1984; Jacak, 1989; Lozano-Perez, 1983) some generating algorithms based on an arbitrary discretization of the manipulators internal coordinates are suggested. Each point of discretization in the external space approximating a reference trajectory is represented by known discretized internal coordinates of the manipulator.]]></dc:description>
<dc:description xml:lang="pl"><![CDATA[On the other hand, in papers (Dulęba and Łysakowska, 1990; Jacak and Łysakowska, 1990; Taylor, 1983) iteration methods of determining the internal coordinates corresponding to external coordinates of the reference trajectory point have been suggested. By applying this technique, the point of the reference trajectory is approached in successive steps of an iterative procedure.]]></dc:description>
<dc:description xml:lang="pl"><![CDATA[In the paper of Dulęba and Łysakowska (1990) a modified iterative method of generating a straight segment of the reference trajectory has been presented. Analytic formulae which are the solution to an inverse problem of manipulator kinematics enable us to design trajectory generating algorithms which compute in one step only internal coordinates of points lying exactly on the reference trajectory, with the accuracy resulting from the computer register length.]]></dc:description>
<dc:description xml:lang="pl"><![CDATA[The paper presents equations of links and actuators kinematics of IRb-6 manipulator in a matrix form. Also solution to equations of link kinematics as well as formulae joining link and actuator natural coordinates of the manipulator have been presented.]]></dc:description>
<dc:publisher><![CDATA[Zielona Góra: Uniwersytet Zielonogórski]]></dc:publisher>
<dc:contributor><![CDATA[Korbicz, Józef (1951- ) - red.]]></dc:contributor>
<dc:contributor><![CDATA[Uciński, Dariusz - red.]]></dc:contributor>
<dc:date><![CDATA[1994]]></dc:date>
<dc:type xml:lang="pl"><![CDATA[artykuł]]></dc:type>
<dc:identifier><![CDATA[http://www.zbc.uz.zgora.pl/repozytorium/Content/57372/AMCS_1994_4_1_7.pdf]]></dc:identifier>
<dc:identifier><![CDATA[https://zbc.uz.zgora.pl/repozytorium/dlibra/publication/63912/edition/57372/content]]></dc:identifier>
<dc:identifier><![CDATA[oai:zbc.uz.zgora.pl:57372]]></dc:identifier>
<dc:source xml:lang="pl"><![CDATA[AMCS, volume 4, number 1 (1994)]]></dc:source>
<dc:source xml:lang="pl"><![CDATA[https://www.amcs.uz.zgora.pl/?action=paper&paper=1238]]></dc:source>
<dc:language><![CDATA[eng]]></dc:language>
<dc:relation><![CDATA[oai:zbc.uz.zgora.pl:publication:63912]]></dc:relation>
<dc:rights xml:lang="pl"><![CDATA[Biblioteka Uniwersytetu Zielonogórskiego]]></dc:rights>
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