A THEORETICAL APPROACH ON DETERMINING THE GEOMETRICAL ERRORS IN CASE OF ARTICULATED ROBOT STRUCTURES

Ovidiu-Aurelian DETEȘAN, Adina Veronica CRIȘAN

Abstract


The purpose of this paper is to bring in a mathematical model for determining the matrices of geometrical errors. To this effect, the matrices of input data were presented as well as a model of computing the primary errors from the driving joints, the obtained results being essential in defining the geometric errors that affect the work performances of the articulated robot structures. The assessment of robot performances can be achieved by considering the xth order differential model of errors. The linear model of position and orientation errors and the cumulative errors corresponding to transformations between robot systems are also determined.

Key words: articulated robot, geometric errors, accuracy, geometry, differential operator.


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References


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