THE KINEMATIC MODEL OF 3R ROBOT BASED ON FUNCTION EXPONENTIALS

Ionela SOMEȘAN, Iuliu NEGREAN, Marinel Ionel RUS

Abstract


The purpose of this paper is to establish the equations of kinematic model for an articulated industrial robot, by symbolic calculus.The geometry and direct kinematics on the RRR-robot (with three degrees of freedom of rotation), in the nominal configuration was calculated in a previous paper. To ensure the operation of the robot, mathematical modeling is required. The exponential matrix appears in solving linear systems of differential equations. For this purpose, the matrix localization algorithm was applied to determine the direct geometry equations. To calculate the velocities and accelerations relative to the fixed system {0}, the transfer matrix algorithm was used. The results are useful to establish the equations of motion trajectory.


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References


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