THE DIRECT KINEMATIC MODEL OF THE ARTICULATE 6R ROBOT

Florin BUGNAR, Viorel ISPAS, Ioan BUDĂCAN

Abstract


In this paper is presented the direct kinematic model of the articulate 6R robot. By this model the disadvantages of geometric modeling are eliminated due to non-linearity of the geometrical equations and the lack of control over velocity and acceleration on the motion trajectory.  

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References


Negrean, I., Itul, T. and Haiduc, N., “The kinematic of the industrial robots”, Centrul de multiplicare al Universităţii Tehnice, Cluj-Napoca, 1995.

Ispas, V., “Manipulators and industrial robots”, Editura Didactică şi Pedagogică, ISBN 973-30-1349-8, Bucureşti, 2004.

Bugnar, F., Ispas, V. and Budăcan, I., “The geometric modeling of the articulate 6R robot”, Acta Technica Napocensis, Editura U.T.PRESS, Cluj-Napoca, 2012, unpublished.

Negrean, I., Duca Adina, Negrean, C. and Kacso, K., “Advanced Mechanics in robotics”, Editura U.T.PRESS, Cluj-Napoca, 2008, ISBN 978-973-662-420-9.


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