Justification of kinematic scheme small of the manipulator forestry machines

2015 ◽  
Vol 5 (3) ◽  
pp. 234-239
Author(s):  
Платонова ◽  
Marina Platonova ◽  
Драпалюк ◽  
Mikhail Drapalyuk ◽  
Платонов ◽  
...  
Keyword(s):  
Coordinate System ◽  
Reference System ◽  
Coordinate Systems ◽  
Kinematic Scheme ◽  
Inertial Coordinate System ◽  
Generalized Coordinates ◽  
Right Hand ◽  
The Absolute ◽  
Orthogonal Coordinate Systems ◽  
Base Machine

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.

Technique for relation global reference system and local realization of global reference system by continuously operated reference stations

2020 ◽  
Vol 962 (8) ◽  
pp. 24-37
Author(s):  
V.E. Tereshchenko
Keyword(s):  
Coordinate System ◽  
Russian Federation ◽  
Reference System ◽  
Main Part ◽  
Precise Point Positioning ◽  
Global Coordinate System ◽  
Coordinate Systems ◽  
Novosibirsk Region ◽  
The Russian Federation

The article suggests a technique for relation global kinematic reference system and local static realization of global reference system by regional continuously operated reference stations (CORS) network. On the example of regional CORS network located in the Novosibirsk Region (CORS NSO) the relation parameters of the global reference system WGS-84 and its local static realization by CORS NSO network at the epoch of fixing stations coordinates in catalog are calculated. With the realization of this technique, the main parameters to be determined are the speed of displacement one system center relativly to another and the speeds of rotation the coordinate axes of one system relatively to another, since the time evolution of most stations in the Russian Federation is not currently provided. The article shows the scale factor for relation determination of coordinate systems is not always necessary to consider. The technique described in the article also allows detecting the errors in determining the coordinates of CORS network in global coordinate system and compensate for them. A systematic error of determining and fixing the CORS NSO coordinates in global coordinate system was detected. It is noted that the main part of the error falls on the altitude component and reaches 12 cm. The proposed technique creates conditions for practical use of the advanced method Precise Point Positioning (PPP) in some regions of the Russian Federation. Also the technique will ensure consistent PPP method results with the results of the most commonly used in the Russian Federation other post-processing methods of high-precision positioning.

scholarly journals The Celestial Reference System in Relativistic Framework

1990 ◽  
Vol 141 ◽  
pp. 99-110
Author(s):  
Han Chun-Hao ◽  
Huang Tian-Yi ◽  
Xu Bang-Xin
Keyword(s):  
Coordinate System ◽  
Reference Frame ◽  
Reference System ◽  
Light Deflection ◽  
Coordinate Systems ◽  
Definition Of ◽  
Celestial Sphere ◽  
Celestial Reference System ◽  
Relativistic Framework

The concept of reference system, reference frame, coordinate system and celestial sphere in a relativistic framework are given. The problems on the choice of celestial coordinate systems and the definition of the light deflection are discussed. Our suggestions are listed in Sec. 5.

scholarly journals Complex Geodynamical Investigations in the Area of the USSR Academy of Sciences Central Astronomical Observatory at Pulkovo

1990 ◽  
Vol 141 ◽  
pp. 72-72
Author(s):  
V. K. Abalakin ◽  
V. I. Bogdanov ◽  
Yu.D. Boulanger ◽  
V. A. Naumov
Keyword(s):  
Coordinate System ◽  
Ussr Academy ◽  
Astronomical Observatory ◽  
Coordinate Systems ◽  
Inertial Coordinate System ◽  
Gravitation Field ◽  
Practical Applications ◽  
Star Catalogue ◽  
Academy Of Sciences

For astronomical, geodetical and geodynamical investigations as well as for practical applications the inertial coordinate system is widely used which is based on the Fundamental Star Catalogue FK5 together with local coordinate systems in observation stations on the Earth's surface which are intrinsically connected with the geometry of the gravitation field.

scholarly journals GEODETIC REFERENCE SYSTEM TRANSFORMATIONS OF 3D ARCHIVAL GEOSPATIAL DATA USING A SINGLE SSC TERRASAR-X IMAGE

2016 ◽  
Vol XLI-B1 ◽  
pp. 1207-1212
Author(s):  
D. I. Vassilaki ◽  
A. A. Stamos
Keyword(s):  
Coordinate System ◽  
Real World ◽  
Reference System ◽  
Absolute Error ◽  
Geospatial Data ◽  
Geodetic Reference System ◽  
Coordinate Systems ◽  
3D Information ◽  
The Relationship ◽  
Geolocation Accuracy

Many older maps were created using reference coordinate systems which are no longer available, either because no information to a datum was taken in the first place or the reference system is forgotten. In other cases the relationship between the map’s coordinate system is not known with precision, meaning that its absolute error is much larger than its relative error. In this paper the georeferencing of medium-scale maps is computed using a single TerraSAR-X image. A single TerraSAR-X image has high geolocation accuracy but it has no 3D information. The map, however, provides the missing 3D information, and thus it is possible to compute the georeferencing of the map using the TerraSAR-X geolocation information, assembling the information of both sources to produce 3D points in the reference system of the TerraSAR-X image. Two methods based on this concept are proposed. The methods are tested with real world examples and the results are promising for further research.

scholarly journals Reference Coordinate Systems for Earth Dynamics: A Preview

1980 ◽  
Vol 56 ◽  
pp. 1-22 ◽  
Author(s):  
Ivan I. Mueller
Keyword(s):  
Coordinate System ◽  
Coordinate Systems ◽  
Inertial Coordinate System ◽  
Terrestrial System ◽  
The Earth ◽  
Earth Dynamics

AbstractA common requirement for all geodynamic investigations is a well-defined coordinate system attached to the earth in some prescribed way, as well as a well-defined inertial coordinate system in which the motions of the terrestrial system can be monitored. This paper deals with the problems encountered when establishing such coordinate systems and the transformations between them. In addition, problems related to the modeling of the deformable earth are discussed.

scholarly journals GEODETIC REFERENCE SYSTEM TRANSFORMATIONS OF 3D ARCHIVAL GEOSPATIAL DATA USING A SINGLE SSC TERRASAR-X IMAGE

2016 ◽  
Vol XLI-B1 ◽  
pp. 1207-1212
Author(s):  
D. I. Vassilaki ◽  
A. A. Stamos
Keyword(s):  
Coordinate System ◽  
Real World ◽  
Reference System ◽  
Absolute Error ◽  
Geospatial Data ◽  
Geodetic Reference System ◽  
Coordinate Systems ◽  
3D Information ◽  
The Relationship ◽  
Geolocation Accuracy

Many older maps were created using reference coordinate systems which are no longer available, either because no information to a datum was taken in the first place or the reference system is forgotten. In other cases the relationship between the map’s coordinate system is not known with precision, meaning that its absolute error is much larger than its relative error. In this paper the georeferencing of medium-scale maps is computed using a single TerraSAR-X image. A single TerraSAR-X image has high geolocation accuracy but it has no 3D information. The map, however, provides the missing 3D information, and thus it is possible to compute the georeferencing of the map using the TerraSAR-X geolocation information, assembling the information of both sources to produce 3D points in the reference system of the TerraSAR-X image. Two methods based on this concept are proposed. The methods are tested with real world examples and the results are promising for further research.

Mobile scanning complex positioning accuracy depending on the coordinate systems used

2017 ◽  
Vol 919 (1) ◽  
pp. 13-17
Author(s):  
G.A. Shanurov ◽  
A.D. Manilova
Keyword(s):  
Coordinate System ◽  
Coordinate Transformation ◽  
Three Dimensional ◽  
Local Area ◽  
Coordinate Systems ◽  
Inertial Coordinate System ◽  
Rectangular Coordinate System ◽  
System Form ◽  
Local Site ◽  
Topographic Survey

Inertial coordinate system and geodetic (terrestrial) coordinate system are used in processing of results of topographic survey, carried out with a mobile scanning complex. Mobile scanning complex geodetic coordinates, in turn, are presented in geodetic three-dimensional rectangular coordinate system form, in geodetic ellipsoidal coordinate system form and in the form of coordinates on a geodetic projection plane. The results of research, carried out earlier [4–7], suggest that the coordinate transformation on large areas distorts geodetic points coordinates. The article presents the results of similar investigations, but applied to a local area, limited by a mobile scanning complex surveying area. The accuracy of the mobile scanning complex coordinates is characterized by the mobile scanning complex coordinates errors cofactor matrix. It turned out that the local site sequential coordinate transformation procedure from one coordinate system to another coordinate system does not introduce any distortion into the mobile scanning complex coordinates.

scholarly journals A New Concept of Constructing an Accurate Coordinate System From Ground-Based Optical Observations

1990 ◽  
Vol 141 ◽  
pp. 129-130
Author(s):  
Mao Wei ◽  
Hu Xiaochun ◽  
Guo Xinjian ◽  
Fan Yu
Keyword(s):  
Coordinate System ◽  
Reference System ◽  
Zero Point ◽  
Optical Observations ◽  
Minor Planets ◽  
Meridian Circle ◽  
Inertial Coordinate System ◽  
Low Latitude ◽  
Main Work ◽  
Set Up

Based on the expected precision and characteristics of the Low Latitude Meridian Circle (LLMC), and the development of CCD astrometry at Yunnan Observatory, an internally consistent and non-rotating optical celestial coordinate system can be set up through observations with the LLMC and CCDs. To obtain this goal, the main work we plan to do are (1) to establish a fundamental stellar reference system of several thousand stars based on the absolute obsrvations with the LLMC; (2) to provide the accurate zero-point corrections for the system from observations of minor planets with the LLMC and CCDs; (3) to determine the precessional rotation of the system with respect to an extragalactic reference system with the LLMC and CCDs, thus transforming the system into a quasi-inertial coordinate system; and (4) to obtain the atmospheric refraciton corrections from the observations with the LLMC.

Simulations of Dynamic Braking of Railroad Vehicles Using Trajectory Coordinates

2007 ◽  
Author(s):  
Claudio Mellace ◽  
Antonio Gugliotta ◽  
Tariq Sinokrot ◽  
Ahmed A. Shabana
Keyword(s):  
Coordinate System ◽  
The Body ◽  
Computer Algorithms ◽  
Arc Length ◽  
Coordinate Systems ◽  
State Equations ◽  
Independent State ◽  
Relative Coordinates ◽  
The Absolute ◽  
Railroad Vehicle

One of the important issues associated with the use of the trajectory coordinates in railroad vehicle simulations is the ability of such coordinates in dealing with braking and traction scenarios. In existing specialized railroad computer algorithms, the trajectory coordinates instead of the absolute Cartesian coordinates are often used. In these algorithms, track coordinate systems that travel with constant speeds are employed to define the configuration of the components in railroad vehicle systems. As the result of using a prescribed motion for these track coordinate systems, the simulation of braking and/or traction scenarios becomes difficult or even impossible, as reported in recent investigations [2]. The assumption of the prescribed motion of the track coordinate systems can be relaxed, thereby allowing the trajectory coordinate systems to be effectively used in modeling braking and traction scenarios. It is the objective of this investigation to demonstrate that by using track coordinate systems that can have an arbitrary motion, the trajectory coordinates can be used as the basis for developing computer algorithms for modeling braking and traction scenarios. To this end, a set of six generalized trajectory coordinates is used to define the configuration of each rigid body in the railroad vehicle system. This set of coordinates consists of one absolute coordinate, which is an arc length that represents the distance traveled by the body, and five relative coordinates. The arc length parameter defines the location of the origin and the orientation of a track coordinate system that follows the motion of the body. The other five relative coordinates are two translations that define the position of the origin of body coordinate system with respect to the track coordinate system in directions lateral and normal to the track, and three Euler angles that define the orientation of the body coordinate system with respect to its track coordinate system. The independent state equations of motion associated with the trajectory coordinates are identified and integrated forward in time in order to determine the trajectory coordinates and velocities. The results obtained in this study show that when the track coordinates systems are allowed to have an arbitrary motion, the resulting set of trajectory coordinates can be used effectively in the study of braking and traction conditions. The numerical examples presented in this paper include two different vehicle models subjected to several braking conditions. The results obtained are compared with the results obtained using the absolute Cartesian coordinate based formulations which allow modeling braking and traction scenarios.

scholarly journals On the Absolute Orientation of the Selenodetic Reference Frame

1981 ◽  
Vol 63 ◽  
pp. 281-286
Author(s):  
V. S. Kislyuk
Keyword(s):  
Coordinate System ◽  
Center Of Mass ◽  
The Moon ◽  
Coordinate Systems ◽  
Inertial Coordinate System ◽  
Reference Coordinate System ◽  
The Earth ◽  
Principal Axes ◽  
The Mean ◽  
Selection Of

The selection of selenodetic reference coordinate system is an important problem in astronomy and selenodesy. For the purposes of reduction of observations, planning and executing space missions to the Moon, it is necessary, in any case, to know the orientation of the adopted selenodetic reference system in respect to the inertial coordinate system.Let us introduce the following coordinate systems: C(ξc, ηc, ζc), the Cassini system which is defined by the Cassini laws of the Moon rotation;D(ξd, ηd, ζd), the dynamical coordinate system, whose axes coincide with the principal axes of inertia of the Moon;Q(ξq, ηq, ζq), the quasi-dynamical coordinate system connected with the mean direction to the Earth, which is shifted by 254" West and 75" North from the longest axis of the dynamical system (Williams et al., 1973);S(ξs, ηs, ζs), the selenodetic coordinate system, which is practically realized by the positions of the points on the Moon surface given in Catalogues;I(X,Y,Z), the space-fixed (inertial) coordinate system. All the systems are selenocentric with the exception of S(ξs, ηs, ζs On the whole, the origin of this system does not coincide with the center of mass of the Moon.

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