{"id":416,"date":"2019-05-21T15:11:03","date_gmt":"2019-05-21T12:11:03","guid":{"rendered":"http:\/\/robotics-innopol.1gb.ru\/?post_type=patent&#038;p=416"},"modified":"2019-09-10T17:47:00","modified_gmt":"2019-09-10T14:47:00","slug":"programmnyj-kompleks-dlya-rascheta-kinematiki-i-dinamiki-robotov-drevovidnoj-kinematicheskoj-struktury-na-osnove-vintovogo-ischisleniya","status":"publish","type":"patent","link":"https:\/\/robotics.innopolis.university\/en\/patent\/programmnyj-kompleks-dlya-rascheta-kinematiki-i-dinamiki-robotov-drevovidnoj-kinematicheskoj-struktury-na-osnove-vintovogo-ischisleniya\/","title":{"rendered":"A software package for calculating the kinematics and dynamics of robots of a tree-like kinematic structure based on screw calculus"},"content":{"rendered":"<p>The program is designed to calculate the kinematics and dynamics of robots of a tree-like kinematic structure based on screw calculus, which allows compact expressions to be obtained compared to classical methods due to the fact that the angular and linear components of motion are considered together. A key feature of the program is that it can calculate the high-order derivatives of the Jacobian, the inertia matrix, the gravitational force vector, and the matrix of Coriolis and centrifugal forces. The program can be used to simulate any systems of a tree-like kinematic structure, as well as for control, especially for robots with elastic joints. This is due to the fact that for accurate control of robots with elastic joints, high derivatives of the dynamics equations are necessary, which can be provided by the proposed system. The program was developed at the Center for Technologies in Robotics and Mechatronics Components.<\/p>","protected":false},"featured_media":0,"template":"","meta":[],"tags":[],"_links":{"self":[{"href":"https:\/\/robotics.innopolis.university\/en\/wp-json\/wp\/v2\/patent\/416"}],"collection":[{"href":"https:\/\/robotics.innopolis.university\/en\/wp-json\/wp\/v2\/patent"}],"about":[{"href":"https:\/\/robotics.innopolis.university\/en\/wp-json\/wp\/v2\/types\/patent"}],"wp:attachment":[{"href":"https:\/\/robotics.innopolis.university\/en\/wp-json\/wp\/v2\/media?parent=416"}],"wp:term":[{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/robotics.innopolis.university\/en\/wp-json\/wp\/v2\/tags?post=416"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}