FORMULATIONS ON ACCURACY IN ADVANCED ROBOT MECHANICS

Iuliu NEGREAN, Adina CRISAN

Abstract


The assessment of the robot accuracy is achieved by means of the geometrical, kinematic and dynamic errors. The main source of appearance of these errors consists in the dimensional deviations and irregularities from every driving joint of the robot. The main author has published a series of mathematical models devoted to accuracy. They were based on classical transformations from robot kinematics and dynamics. The main author has included them in the first variant of the SimMEcRob Simulator. Within of this paper about the robot kinematic and dynamic accuracy of the robot structure will be applied formulations, having at basis the matrix exponentials of direct kinematics.

Key words: Robotics; Mechanics; Kinematics; Dynamics; Accuracy.


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References


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