CONTRIBUTIONS TO THE GEOMETRIC MODELING OF INDUSTRIAL MODULAR, ARTICULATED, SERIAL ROBOTS WITH FIVE DEGREES OF FREEDOM, USING SYMBOLIC COMPUTATION

Florin BUGNAR, Ovidiu-Aurelian DETEŞAN, Viorel ISPAS

Abstract


The aim of this paper is to present the way the symbolic computation in MATLAB can be used for determining the geometric model equations of the modular, articulated, serial industrial robots, with five degrees of freedom. A MATLAB script was created in this purpose, using as input data the position-orientation matrices describing the geometry of the considered robot, the output data being the geometric model equations, written in the algebraic form.

Key words: serial robot, geometric modelling, symbolic computation

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References


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