Open AccessRepresentation of a robotic manipulator mechanical subsystem as a component circuit with vector links
Author(s) -
Vyacheslav M. Dmitriev,
Т. Н. Зайченко,
T. V. Gandzha
Publication year - 2020
Publication title -
journal of physics. conference series
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.21
H-Index - 85
eISSN - 1742-6596
pISSN - 1742-6588
DOI - 10.1088/1742-6596/1488/1/012031
Subject(s) - component (thermodynamics) , representation (politics) , kinematics , set (abstract data type) , computer science , matrix representation , mechanical system , node (physics) , software , control engineering , robot manipulator , component based software engineering , matrix (chemical analysis) , topology (electrical circuits) , robot , artificial intelligence , engineering , software system , electrical engineering , programming language , physics , structural engineering , group (periodic table) , materials science , law , composite material , classical mechanics , quantum mechanics , political science , thermodynamics , politics
This paper discusses the formalized representation of a mechanical subsystem of a robotic manipulator as a component circuit with vector links for the purposes of dynamics problems. Set-theoretical definition of a component circuit is represented. A matrix-topological interpretation of the components of solid body and kinematic node is discussed. Component models can be used for mechanical systems modeling and simulation systems software develipment.