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2010, vol. 60, br. 1, str. 19-29
Analogija između novog oblika Ojler-Bernulijeve jednačine i algoritma za definisanje matematičkog modela kretanja robota
Univerzitet u Beogradu, Institut 'Mihajlo Pupin'
Sažetak
Sa novim, generacijski skupljenim znanjima, intenzivnim razvojem novih tehničkih oblasti kao što je robotika, posebno osnažena razvojem kompjuterskih tehnologija, podstiče i omogućuje da elastična deformacija bude razmatrana realno kao dinamička veličina koja zavisi od parametara sistema. Amplituda elastične deformacije kao i frekvencija su dinamičke veličine koje zavise od ukupne dinamike kretanja robotskog sistema (sila) i takođe od konfiguracije mehanizma, težina, dužina segmenata, odabrane referentne trajektorije, dinamičkih karakteristika kretanja motora i td. Mi definišemo opštu formu jednačine elastične linije kompleksnog robotskog sistema određene konfiguracije, koristeći Ojler-Bernulijeve jednačinu. Prikazana je veza između Ojler-Bernulijeve jednačine i jednačine ravnoteže u tački vrha elastične linije. Matematički model motora takođe obuhvata sprezanje između sila elastičnosti. Prikazana je analogija između rešenja Ojler-Bernulijeve jednačine, koje je definisao Daniel Bernuli u originalnoj formi, i procedure rešenja 'direktne kinematike' u robotici.
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O članku

jezik rada: engleski
vrsta rada: neklasifikovan
objavljen u SCIndeksu: 07.09.2010.

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