THE MODELING OF WORKING PROCESS OF THE SERIAL STRUCTURE FANUC

Kalman KACSO, Iuliu NEGREAN, Claudiu SCHONSTEIN

Abstract


In the paper is presented the working process modeling of the robot Fanuc LR Mate 100 iB, by using of 5-4-6 type polynomial interpolation functions. These higher order polynomial functions are used to study the jerk, specific to a robot with a complex mechanical structure, where is necessary to determine the higher order accelerations. In this case, the study extends to second order accelerations, called jerk in the literature [3]. This notion, represents first order absolute derivative with respect to time of the vector acceleration. Therefore, in the following analysis will determined the expressions of linear and angular jerk. The determination of control functions requires the mathematical modeling of the serial robot, presented in the first part of this paper.

Key words: exponential functions, motion trajectories, workflow, interpolation polynomial functions

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References


Negrean, I., Albeţel, D. G., New Formulations With Matrix Exponentials In Robotics, The 2nd International Symposium of Theoretical and Applied Mechanics “Dimitrie I. Mangeron”, Buletinul Institutului Politehnic din Iaşi, 2005, Iasi, Romania, pp. 277-284

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

Pelecudi, Ch., Precizia mecanismelor, Editura Academiei Romane, Bucureşti, 1975


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