|Autors: Tudjarov, B. N., Mitrev, R. P.|
Title: Web-based VR Environment for Simulation and Visualization of Construction Manipulator Motion
Keywords: Web, Virtual Reality (VR), Modeling, Simulation, Visualization, Construction Manipulator
Abstract: The paper presents a case study of visualization and animation of results of inverse kinematics simulation of a redundant construction manipulator, represented as a mechanical system with four degrees of freedom. The boom consists of four rigid links, interconnected by rotational joints. The rotation of the links is described by relative joint angles and their values, together with the links lengths, determine the manipulator working range. For a prescribed vertical straight-line trajectory, the inverse kinematics task at the velocity level is solved by the use of weighted pseudoinverse matrix. To compensate the deviations from the desired trajectory, the inverse kinematics equation is modified by adding terms, proportional to the difference between the current and the desired position of the boom end point. By the use of the contemporary Web technologies a VR environment for simulation and visualization of the obtained results is developed.
1. Sisyukov, A.N., Bondarev, V.K., Yulmetova, O.S., ERP Data Analysis and Visualization in High-Performance Computing Environment, Proceedings of the 2020 IEEE Conference of Russian Young Researchers in Electrical and Electronic Engineering, EIConRus 2020 9038949, pp. 509-512, DOI: 10.1109/EIConRus49466.2020.9038949 - 2020 - в издания, индексирани в Scopus или Web of Science
Вид: публикация в международен форум, публикация в издание с импакт фактор, публикация в реферирано издание, индексирана в Scopus