GEOMETRICAL AND KINEMATICAL CONTROL FUNCTIONS FOR A CARTESIAN ROBOT STRUCTURE

Claudiu SCHONSTEIN, Mihai STEOPAN, Răzvan CURTA, Florin URSA

Abstract


Based on the idea of bringing more flexibility to a working process, the paper is dedicated to the presentation of geometry and kinematics equations for a Cartesian robot structure. The algorithms used in the mathematical modeling of mechanical robot structures, are used for establishing, on one hand of the homogeneous transformations in the direct geometry modeling, and on the other hand to determine the kinematics equations. The kinematic modeling of a mechanical system with n degrees of freedom, involves an impressive volume of computational or differential calculus. There are algorithms dedicated to this task developed in the literature. Will be established in analytical form, the direct equations for geometric and kinematic model using dedicated algorithms, for realize the kinematic control, namely the establishment of linear and angular speed/acceleration of every kinetic joint of robot and the tool central point.


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References


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