THE ANALYSIS OF GEOMETRICAL ERRORS BASED ON POLYNOMIAL INTERPOLATION FUNCTIONS FOR A 5 D.O.F. SERIAL ROBOT

Adina - Veronica CRIȘAN, Florina - Maria ȘERDEAN, Radu MORARIU - GLIGOR

Abstract


The paper deals with the experimental and numerical modeling of geometrical errors in case of a 5R serial robot (Fanuc LR Mate 100iB), implemented in a working process which consists of manipulating different parts from the workspace, for the purpose of processing them. For each point from the working space covered by the end effector and included in the analysis, have been collected from the teach – pendant of the robot a series of data regarding the coordinates of the tool center point, the orientation angles and the value of the generalized coordinates for all driving joints.  The trajectory errors that affect the optimal operation of the robot have been determined  based on polynomial interpolation functions of 4 – 3 – 4  type.

Key words: serial robot, dynamic modeling, geometrical errors, polynomial interpolation functions.


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References


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