THE KINEMATIC MODEL OF FANUC LR Mate 100iB CONSIDERING THE GEOMETRIC ERRORS

Ovidiu-Aurelian DETEŞAN

Abstract


The methods of kinematic modeling of industrial robots, regularly used in the literature, are strictly related to robot’s nominal geometry and kinematics, 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 operational velocities and accelerations, angular and linear, corresponding to 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 location matrices. The obtained data will be used as input data into the iterative algorithm of kinematic modeling. By substituting numerical values into the kinematic equations, the influence of these errors on the operational kinematic parameters is outlined.

 


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References


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