Ovidiu-Aurelian Deteşan, Florin Bugnar, Adrian Trif, Claudiu Mihai Nedezki


After a brief definition of the robot path, the paper establishes the interpolation polynomials that characterize the displacement of the TRR small-sized robot on a path defined by five successive configurations. The second part of the papers deals with the numerical and graphical simulation of the TRR robot using a script written in MATLAB, TRR_Simulation. The paper ends by representing the time variation of the generalized coordinates and the position of the gripper’s characteristic point and its path, corresponding to the given task.

Key words: TRR robot, path planning, polynomial interpolation functions, MATLAB.

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Deteşan, O.A., The Path Planning of Industrial Robots Using Polynomial Interpolation, with Applications to Fanuc LR-Mate 100iB, Acta Technica Napocensis, nr. 56, vol. IV, p. 665-670, Cluj-Napoca, 2013, ISSN 1221-5872

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Deteşan, O.A., The Implementation of the TRR Robots Modeling Using the Symbolic Computation in MATLAB, Acta Technica Napocensis, Series: Applied Mathematics and Mechanics, vol. 51, no. IV, Cluj-Napoca, 2008, ISSN 1221-5872.

Deteşan, O.A., Approach to the Kinematics and Dynamics of the Modular Industrial Robot of TRR Type, Annals of DAAAM for 1998 & Proceedings of the 9th International DAAAM Symposium, Vienna, Austria, 1998, Editor B. Katalinic, pp. 163-164, ISBN 3-901509-08-9.

Deteşan, O.A., The Numerical Simulation of TRR Small-Sized Robot, Acta Technica Napocensis, vol. 58, no. 4, p. 519 - 524, Cluj-Napoca, 2015, ISSN 1221-5872

Deteşan, O.A., Bugnar, F., Nedezki, C.M., Trif, A., The Graphical Simulation of TRR Small-Sized Robot, Acta Technica Napocensis, vol. 59, no. 3, Cluj-Napoca, 2015, ISSN 1221-5872

Negrean, I., Contribuţii privind optimizarea parametrilor cinematici şi dinamici în vederea măririi preciziei în funcţionare a roboţilor, Ph.D. Thesis, Technical University of Cluj-Napoca, 1995


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