Title :
Inverse modelling of the kinematical errors of industrial robots
Author :
Negrean, I. ; Vuscan, I. ; Forgo, Zoltan
Author_Institution :
Dept. of Mech., Tech. Univ., Cluj-Napoca, Romania
Abstract :
For the relative positioning of the elements in the mechanical structure of the robots, DH type (Denavit-Hartenberg) parameters are used. They are characterised by certain geometrical errors which affect the robot kinematic and dynamic structure. The paper presents both the mathematical model for the DH type of geometrical errors calculus and the matrix equations typical of the direct and inverse modelling of kinematic errors, as well as an optimising model for the position-orientation and velocity-acceleration accuracy
Keywords :
geometry; industrial robots; matrix algebra; position control; robot kinematics; Denavit-Hartenberg parameters; geometrical errors; geometrical errors calculus; industrial robots; inverse modelling; kinematic errors; matrix equations; mechanical structure; optimising model; position-orientation accuracy; velocity-acceleration accuracy; Buildings; Calculus; Computational geometry; DH-HEMTs; Inverse problems; Kinematics; Mathematical model; Service robots; Shape; Solid modeling;
Conference_Titel :
Intelligent Engineering Systems, 1997. INES '97. Proceedings., 1997 IEEE International Conference on
Conference_Location :
Budapest
Print_ISBN :
0-7803-3627-5
DOI :
10.1109/INES.1997.632406
