GEOMETRIC MODEL OF FANUC LR Mate 100iB CONSIDERING THE DIMENSIONAL AND GENERALIZED COORDINATES ERRORS

Ovidiu-Aurelian DETEȘAN, Adina Veronica CRIȘAN

Abstract


The methods of geometric modeling of industrial robots, regularly used in the literature, are strictly related to robot’s nominal geometry, the robot being considered as a system of rigid bodies, dimensionally and positionally perfect. This paper outlines the influence of dimensional and generalized coordinates errors on the position and orientation of the end-effecter of FANUC LR Mate 100iB industrial robot. The dimensional-constructive errors and the errors of generalized coordinates are included in the equations of the direct geometric model, determined by the method of situation matrices. By substituting numerical values in these equations, the influence of these errors on the operational position and orientation parameters is put in evidence.

Key words: articulated robot, geometric errors, symbolic computation, FANUC.


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References


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