Proper Assisted Research Method Solving of the Robots Inverse Kinematics Problem

Olaru, Adrian; Olaru, Serban; Mihai, Niculae

doi:10.4028/www.scientific.net/amm.555.135

Cited by 25 publications

(24 citation statements)

References 18 publications

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“…[6]. These representations and homogenous transformations based on orthonormal matrices given the end effector position with finally goal to obtain the desired spatial trajectory, theoretically with minimum errors [7].…”

Section: Methodsmentioning

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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Section: Methodsmentioning

confidence: 99%

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

Mihai¹

2018

IJMO

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“…For the assisted research of accelerations were needed firstly create the mathematical 6x6 matrix model, secondly construct some LabVIEW instruments that content this mathematical model, thirdly run these virtual instrumentations to obtain the accelerations characteristics versus time in some different cases of the robot's movements and with different body's length and finally analyze and chose the optimal values of the constructive and functional robot's parameters. Some of the proper results were obtained in the papers [20]- [25].…”

Section: Modeling Simulation Of the Robot's Joints Accelerationsmentioning

confidence: 99%

Neutrosophic Theory Applied in the Multi Objectives Optimization of the Robot’s Joints Accelerations with the Virtual LabVIEW Instrumentation

Olaru¹,

Olaru²,

Mihai³

et al. 2020

IJMO

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One of the most important problem to solve in the robots Kinematics and Dynamics is analyze of the joint's angular and linear accelerations. Because the movements of the robot's bodies going in the 3D space, the mathematical algorithm must be written in the complex matrix form. The paper show how some cases of the trapezoidal relatives' velocities characteristics in a joints determine the variation of the acceleration's vectors in the 3D space. The maximal values of these variations of the angular and linear accelerations influence the variation of the moments and forces. The analyze was made by using the Neutrosophic theory and vitual LabVIEW instrumentation. In a literature are described some methods of the assisted analyze of the acceleration without show the used mathematical model, without one critical analyze of the cases that must be avoid and finally without some conclusions for the researchers. The paper shown all LabVIEW virtual instruments (VI) used for this assisted research. By solving the assisted research of the acceleration will be open the way to the assisted research of the robots' dynamic behavior, to choose the optimal constructive and functional parameters (dimensions of the bodies, simultaneously, successive or complex configurations of the movements in the robot's joints, optimal values of the constant relative joint's velocities, etc.) of the robots to obtain the minimum variation of the forces and moments. The method that was shown in the paper solves one small part of the complex problems of the robot's kinematics and dynamics.

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“…The manufacturing platform of the ERP program allows taking orders online, temporarily stopping the production and leaving it in stand-by, and introducing new orders, considered priority. Once these are completed, the old production will resume from where it remained [8].…”

Section: B Description Of the Automation Systemmentioning

confidence: 99%

New 19 Axes Single-Processor System, for Door Moldings Manufacturing

Badescu¹,

Mihai²

2020

IJMO

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The present paper describes a new technology for the manufacture of interior door moldings, in the spirit of Industry 4.0. A new manufacturing method is presented, using a single processor for all 19 axes numerically controlled. Thus, production costs are reduced, while the productivity and quality of the products increases. All operations are performed automatically, without the intervention of the human factor. Some of the electromechanical devices used are completely original. The data are processed in real time by a software platform, which also performs real-time diagnostics.

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Proper Assisted Research Method Solving of the Robots Inverse Kinematics Problem

Cited by 25 publications

References 18 publications

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

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

Neutrosophic Theory Applied in the Multi Objectives Optimization of the Robot’s Joints Accelerations with the Virtual LabVIEW Instrumentation

New 19 Axes Single-Processor System, for Door Moldings Manufacturing

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