CONSIDERATIONS REGARDING THE IMPLEMENTATION OF SERIAL ROBOTS IN WORKING PROCESSES

Claudiu SCHONSTEIN, Răzvan CURTA, Corina Adriana DOBOCAN

Abstract


The implementation of a mechanical robot structure, in a working process, consists in determination of the driving moments of each motor from the kinematic joints. To establish of these driving moments, known as dynamic control equations, can be used a generalized algorithm, based on geometrical, kinematical, and dynamical modelling, by using dedicated algorithms. Generally, a proper estimation of moments of the motors, are revealing the driving motor torques, hence the related breaking systems can be rigorously dimensioned. The paper presents an example of using mathematical algorithms to implement a robot in a working process.

Full Text:

PDF

References


Negrean, I., Negrean, D. C., The Locating Matrix Algorithm in Robot Kinematics, Cluj-Napoca, October 2001, Acta Technica Napocensis, Series: Applied Mathematics and Mechanics, Vol. 2, pp. 7-14, (2001).

Negrean, I., Mecanică Avansată în Robotică, Editura UT PRESS, ISBN 978-973-662-420-9. Cluj-Napoca, (2008).

Negrean, I., Schonstein C., “Advanced Studies on Matrix exponentials in Robotics”, Published in the Acta Technica Napocensis, Series: Applied Mathematics and Mechanics, 53 Vol. I,, pp. 13-18, Cluj-Napo

ca, Romania, (2010).

Bernstein, D.S., So, W.G., Some explicit Formulas for the Matrix Exponential, IEEE Transaction on Automatic Control, Vol. 38, (1993).

Schonstein, C., Contribuții în dezvoltarea unei structuri robotizate hibride, PhD Thesis, Cluj-Napoca, (2011).

M.D. Ardema, Analytical Dynamics Theory and Applications, Springer US, ISBN 978-0-306-48681-4, pp. 225-243, 245-259, (2006).

Rumyantsev, V., Forms of Hamiltons’s Principle for nonholonomic systems, Mechanics, Automatic Control and Robotics, Vol. 2, (2000).

Negrean, I., Schonstein C., ” Formulations in Robotics based on Variational Principles”, Proceedings of AQTR 2010 IEEE-TTTC, International Conference on Automation, Quality and Testing, Robotics, ISBN 978-1-4244-6722-8, pp. 281-286, Cluj-Napoca, Romania, (2010).

Covaciu, F., Actuation and Control of a Serial Robotic Arm with four degrees of freedom, Acta Technica Napocensis – Series: Applied Mathematics, Mechanics, and Engineering, Volume: 61, Issue: 3, Pages: 347-356, 2018, ISSN: 1221-5872, (2019).

Covaciu, F., Control and Actuation System of a six degrees of freedom robotic arm, Acta Technica Napocensis – Series: Applied Mathematics, Mechanics, and Engineering, Volume: 62, Issue: 1, Pages: 99-106, ISSN: 1221-5872, (2019).


Refbacks

  • There are currently no refbacks.


JOURNAL INDEXED IN :