SOLVING DIRECT KINEMATICS MODELLING OF TTTR GANTRY MODULAR ROBOT BY ITERATIVE METHOD

Adrian Vasile BLEBEA, Viorel ISPAS, Ramona Maria GUI, Nicusor I. URSA

Abstract


Solving the direct kinematic modelling of robots can be done through various methods. The iterative method is one of the methods commonly used in the study of kinematic modeling. At the base of the method is the introduction in calculus of vectors position, the rotation matrix, and their derivates with respect to time. Using the iterative method, this paper develops methodologies to determine the kinematics parameters: operational angular speeds and accelerations, respectively operational linear velocities and accelerations, witch characterize the movement of each element of a TTTR modular Gantry robot.

Key words: kinematic modeling, geometric modeling, serial robots, Gantry robots

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References


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