Russian Federation
This article discusses the the selection and justification of the reference system and of the generalized coordinates for the kinematic scheme developed by of the manipulator taking into account these factors. The absolute (inertial) coordinate system associated with the center of the support member (eg turntable), joins the arm to the base machine and the subsequent coordinate system formed in accordance with the rules. On the whole, to describe the position of the investigated little detail of the manipulator in the space of generalized coordinates must be four and five right-hand orthogonal coordinate systems.
railway, traffic safety, unwanted vegetation, manipulator, kinematic scheme.
1. Antipov, B.V. Nauchnye osnovy razrabotki sistemy zashchity ot rastitel´nosti zhe-leznodorozhnogo puti i drugikh ob´´ektov proizvodstvennoy infrastruktury [Tekst] : avto-ref. diss.... dokt. tekhn. nauk: 05.22.06 / B.V. Antipov. - M.: 2014. - 48 s.
2. Kreynis, Z.L. Tekhnicheskoe obsluzhivanie i remont zheleznodorozhnogo puti [Tekst] / Z.L. Kreynis, N.E. Selezneva. - M.: UMTs ZhDT, 2012. - 568 s.
3. Antipov, B.V. Mul´chernye tekhnologii v polose otvoda zheleznykh dorog [Tekst] / B.V. Antipov, S.Yu. Markelov, M.T. Khaydarov / Pod red. B.V. Antipova. - M.: 2013. - 115 s.
4. Boudreau, R. Parallel Manipulator Kinematics Learning Using Holographic Neural Net-work Models [Text] / R. Boudreau, G. Levesque, S. Darenfed. Robotics and Computer-Integrated Manufacturing. - 1998. - Vol. 14. - № 1. - S. 37-44.
5. Cheah, C.C. Stability of Hybrid Position and Force Control for Robotic Manipulator with Kinematics and Dynamics Uncertainties [Text] / C.C. Cheah, S. Kawamura, S. Arimoto. Automa-tica. - 2003. - Vol. 39. - № 5. - S. 847-855.
6. Platonova, M.A. Innovatsionnye kolesnye mashiny dlya obsluzhivaniya zhelezno-dorozhnogo puti [Tekst] / M.A. Platonova, A.A. Platonov. Sovremennye problemy nauki i obrazovaniya. - 2013. - № 2. - S. 198.
7. Matyukhin, V.I. Stabilizatsiya dvizheniy manipulyatora vdol´ zadannoy poverkhnosti [Tekst] / V.I. Matyukhin. Avtomatika i telemekhanika. - 2011. - № 4. - S. 71-85.
8. Barakhov, V.M. Upravlenie mnogozvennym manipulyatorom s raspredelennymi parametrami [Tekst] / V.M. Barakhov, Yu.N. Sankin. Avtomatika i telemekhanika. - 2007. - № 8. - S. 57-67.
9. Palpacelli, M.-C. A Redundantly Actuated 2-Degrees-Of-Freedom Mini Pointing Device [Text] / M.-C. Palpacelli, G. Palmieri, M. Callegari. Journal of Mechanisms and Robotics. - 2012. - Vol. 4. - № 3.
10. Szkodny, T. Modelling of Kinematics of the IRB-6 Manipulator [Text] / T. Szkodny. Computers & Mathematics with Applications. - 1995. - Vol. 29. - № 9. - S. 77-94.
