METHODS OF TRACKING AND CORRECTING THE TRAJECTORIES USING THE PROXIMITY TRANSDUCERS (PART 2)

Adrian TRIF

Abstract


In this article will be studied the problem of correcting the trajectories (unknown) located in the plane yOz, at a given distance d0 . Throughout the trajectory, the end-effector, equipped  with proximity transducers, must solve two problems:identification of the shape of the trajectory and the positioning of the end-effector so that the distance to the trajectory travelled to be d0 (known).

Key words: Correcting, trajectory, end-effector, proximity, transducer, mobile system, coordinates, displacement


Full Text:

PDF

References


Drăgulescu, D. Robot Dynamics, E.D.P. R.A, Bucureşti, 1997

Ispas, V., Manipulators and industrial robots, E.D.P., Bucureşti, 2004

Kovacs, F., Rădulescu, C. Industrial robots, Multiplication Centre of The Technical University, Timişoara, 1992

Kovacs, F. About accuracy and positioning-orienting incertitude of the industrial robots programmed by training, MERO’91, vol. I, Bucureşti, 1991

Negrean, I. ş.a. The influence of Denavit-Hartenberg Type Parameters Upon Robot Kinematic Accuracy, The second ECDP International Conference on Advanced Robotics, Vienna, September, 1996

Paul, R.P., Robot Manipulators, Mathematics, Programming and Control, MIT Press, Cambridge, 1981

Popescu, P, a.o. Robot and Manipulators Mechanics, vol. 1-5, E.D.P., Bucureşti, 1994-1995

Popescu, P., Popescu, R. Contributions regarding the Orientation and Positioning Accuracy of a Robot Mechanical Structure, 4-th International Workshop on Robotics in Alpe-Adria Region, R.A.A., 1995, Austria

Popescu, P., Trif, A., Haiduc, N. Contribuţii privind modulul de micromişcare al unui robot industrial, partea I, Construcţia de maşini, Bucureşti,2004.

Popescu, P., Trif, A. Contribuţii privind modulul de micromişcare al unui robot industrial – partea a II-a, Construcţia de maşini, Bucureşti, 2004

Trif, A., Popescu, P., Haiduc, N., A few studies about positioning accuracy, effect of generalized coordinates errors at a robot with four degree of freedom, Acta Tehnica Napocensis, No. 51, Vol.1, Technical University of Cluj-Napoca, 2008

Trif,A., Contributions about accuracy of industrial robots, Phd Thesis, Technical University of Cluj-Napoca, 2011

Trif,A., Methods of tracking and correcting the trajectories using the proximity transducers (part 1) ,Acta Tehnica Napocensis, Technical University of Cluj-Napoca, 2012


Refbacks

  • There are currently no refbacks.


JOURNAL INDEXED IN :