Achieving extreme precisions for multiple manipulators using a proper coupled neural network matrix method and LabVIEW instrumentation

Olaru, Adrian; Masehian, Ellips; Olaru, Serban; Mihai, Niculae

doi:10.1109/icrom.2016.7886862

Cited by 7 publications

(5 citation statements)

References 7 publications

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“…4, August 2020 deformation in the structure up to 12.3 inch. (See figure 9) all measures had to be taken to prevent these frequencies from occurring, because their overlap will lead to serious damage to the mechanical structure, and errors in the positioning mechanisms, which will make the entire system impossible to control [10].…”

Section: Frequency Analysis Of Structurementioning

confidence: 99%

Improving the Dynamic Behaviour of a New 6 DOF Industrial Robot

Mihai¹,

Badescu²

2020

IJMO

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In this paper is presented the research work done to create and optimize a new mechanical structure of industrial robot by finite element method, commanded and controlled in the spirit of Industry 4.0 by a performance controller. This mechanical structure is provided as an end-effectors, with a high speed electric motor (electrical spindle motor), provided with an end-mill tool. This assembly is intended for use in industrial applications for cleaning and machining PVC welded profiles for window frames. The material used in the manufacture is aluminum alloy. Index Terms-Forward and inverse kinematics, frequency and static finite element analysis.

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Section: Frequency Analysis Of Structurementioning

confidence: 99%

Improving the Dynamic Behaviour of a New 6 DOF Industrial Robot

Mihai¹,

Badescu²

2020

IJMO

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“…Thus, we made the projection of the mechanical structure of the robot in two planes perpendicular to each other [4], [7]. One is horizontal xOy (Fig.…”

Section: B Solving the Problem Of Inverse Kinematicsmentioning

confidence: 99%

New 5-DOF Industrial Robot Structure, Modeled and Optimized by the Finite Element Method

Mihai¹

2019

IJMO

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This paper presents the cinematic and dynamic performances of a new 5-DOF industrial robot structure that has been conceived, optimized and modeled using the finite element method. Finite element analysis has helped to find optimal solutions for locating kinematic elements, sizing the 5 robot modules accordingly, and improving the kinematicmechanical behavior of component elements. The material used in the manufacture was T6061 aluminum. Index Terms-Forward and inverse kinematics, static finite element analysis.

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“…For inverse kinematics we use the proper Neural Network with 4 layers, the delay block and recurrent links couplet with FK and IPIJMM algorithm (4). [8] where (T)-column matrix of the target; (FK)-column matrix of the forward kinematics;…”

Section: The Mathematical Model Of the Ceiling Mounted Robotmentioning

confidence: 99%

“…The matrix model for the proper used Neural Network is presented in equations 5: Movement algorithms were inserted into the robot controller for 10 spatial displacement points [8]. Following the calculations, the theoretical displacement values, which are shown in Table I and II. In the experimental stand were mounted high precision measuring instruments, and experimentally measured the practical errors caused by Home position synchronization limiters.…”

Section: The Mathematical Model Of the Ceiling Mounted Robotmentioning

confidence: 99%

Improvement of Synchronization Algorithms in Home Position for Robots with 5 Degrees of Mobility

Mihai¹

2018

IJMO

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This paper will present a method to improve spatial trajectories errors for end effectors of any robot using combined two solutions of home positions functions. The paper will present the magnitude of the errors in different situations, using different synchronization and zeroing systems and their influence on positioning precision of the end effectors on the spatial trajectory. There will also be presented the results of experimental research measured in the laboratory on the ceiling mounted robot at various points of the trajectory and the influence of positional errors on the calculation algorithms for all five degrees of mobility.

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Achieving extreme precisions for multiple manipulators using a proper coupled neural network matrix method and LabVIEW instrumentation

Cited by 7 publications

References 7 publications

Improving the Dynamic Behaviour of a New 6 DOF Industrial Robot

Improving the Dynamic Behaviour of a New 6 DOF Industrial Robot

New 5-DOF Industrial Robot Structure, Modeled and Optimized by the Finite Element Method

Improvement of Synchronization Algorithms in Home Position for Robots with 5 Degrees of Mobility

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