GEOMETRIC MODELING OF A 5R-TYPE INDUSTRIAL ROBOT

Florin BUGNAR, Claudiu SCHONSTEIN, Viorel ISPAS

Abstract


To implement a mechanical robot structure in an industrial working process, as welding, spray-painting, inspections and s.o, it has to be modelled mathematically. The first step of mathematical modelling, is the determination of the geometrical control functions, consisting in the expressions of the position and orientation of the end effector, which contains the working tool. According to this, the paper contains the geometrical modelling for an articulated robot, having five rotations.

 Key words: articulated robot, mathematical modeling, homogeneous transformation, working process.

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References


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