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Vadim Kramar, Oleg Kramar, Aleksey Kabanov and Vasiliy Alchakov
The problem of self-collisions of manipulators with several links installed on a robot can arise when they work together in one zone. To prevent self-collisions, it is necessary to develop methods for their detection and their subsequent inclusion in con...
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Alexander Konoplin, Alexander Yurmanov, Nikita Krasavin and Pavel Piatavin
This article considers an approach to synthesizing a multilevel system to control movements of a multilink manipulator (MM) mounted on an unmanned underwater vehicle (UUV) for performing autonomous manipulative operations in the mode of dynamic positioni...
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Alexander Konoplin, Vladimir Filaretov and Alexander Yurmanov
A novel method for supervisory control of multilink manipulators mounted on underwater vehicles is considered. This method is designed to significantly increase the level of automation of manipulative operations, by the building of motion trajectories fo...
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