THE GEOMETRIC MODELING OF THE ARTICULATE 6R ROBOT

Florin BUGNAR, Ramona-Maria GUI (LUNG), Viorel ISPAS

Abstract


The authors present in this paper the direct geometrical model for the robot 6R. Firstly we need to establish the geometrical model equations is necessary to determine the rotation matrix. Secondly is necessary to determine the independent parameters of the orientation, the vectors of position and, finally, following the results obtained result the direct geometrical model equations.

Key words: kinematic structure, robot, matrix, independent parameters, characteristic point, column vector


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References


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