TRAJECTORY ERROR MINIMISATION METHOD DUE TO TRANSIENT REGIME VARIATION OF INDUSTRIAL ROBOTS KINEMATIC LINKS
In the current industry, industrial robots are gaining more and more ground to classical positioning methods, especially due to the ratio of workspace / volume of the industrial robot. For this reason, methods of minimization of trajectory errors are necessary. Among the multitudes of factors that...
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| Format: | Article |
| Language: | English |
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Alma Mater Publishing House "Vasile Alecsandri" University of Bacau
2019-09-01
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| Series: | Journal of Engineering Studies and Research |
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| Online Access: | https://jesr.ub.ro/index.php/1/article/view/27 |
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| _version_ | 1823863648887504896 |
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| author | ANDREI LUNCANU GHEORGHE STAN |
| author_facet | ANDREI LUNCANU GHEORGHE STAN |
| author_sort | ANDREI LUNCANU |
| collection | DOAJ |
| description |
In the current industry, industrial robots are gaining more and more ground to classical positioning methods, especially due to the ratio of workspace / volume of the industrial robot. For this reason, methods of minimization of trajectory errors are necessary. Among the multitudes of factors that affect the trajectory precision is the difference between the programmed transient regime and the measured transient regime of the kinematic link used in the structure of the industrial robots. In this paper is presented the method of measurement the transient regimes of the end-effector and a method of compensation of the trajectory error.
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| format | Article |
| id | doaj-art-f6342b7f266e4e0b8aeb58b876ace667 |
| institution | Kabale University |
| issn | 2068-7559 2344-4932 |
| language | English |
| publishDate | 2019-09-01 |
| publisher | Alma Mater Publishing House "Vasile Alecsandri" University of Bacau |
| record_format | Article |
| series | Journal of Engineering Studies and Research |
| spelling | doaj-art-f6342b7f266e4e0b8aeb58b876ace6672025-02-09T11:37:46ZengAlma Mater Publishing House "Vasile Alecsandri" University of BacauJournal of Engineering Studies and Research2068-75592344-49322019-09-01253TRAJECTORY ERROR MINIMISATION METHOD DUE TO TRANSIENT REGIME VARIATION OF INDUSTRIAL ROBOTS KINEMATIC LINKSANDREI LUNCANU0GHEORGHE STAN1“Vasile Alecsandri” University of Bacau, Calea Marasesti 157, Bacau, 600115, Romania“Vasile Alecsandri” University of Bacau, Calea Marasesti 157, Bacau, 600115, Romania In the current industry, industrial robots are gaining more and more ground to classical positioning methods, especially due to the ratio of workspace / volume of the industrial robot. For this reason, methods of minimization of trajectory errors are necessary. Among the multitudes of factors that affect the trajectory precision is the difference between the programmed transient regime and the measured transient regime of the kinematic link used in the structure of the industrial robots. In this paper is presented the method of measurement the transient regimes of the end-effector and a method of compensation of the trajectory error. https://jesr.ub.ro/index.php/1/article/view/27trajectoryindustrial robotskinematic links |
| spellingShingle | ANDREI LUNCANU GHEORGHE STAN TRAJECTORY ERROR MINIMISATION METHOD DUE TO TRANSIENT REGIME VARIATION OF INDUSTRIAL ROBOTS KINEMATIC LINKS Journal of Engineering Studies and Research trajectory industrial robots kinematic links |
| title | TRAJECTORY ERROR MINIMISATION METHOD DUE TO TRANSIENT REGIME VARIATION OF INDUSTRIAL ROBOTS KINEMATIC LINKS |
| title_full | TRAJECTORY ERROR MINIMISATION METHOD DUE TO TRANSIENT REGIME VARIATION OF INDUSTRIAL ROBOTS KINEMATIC LINKS |
| title_fullStr | TRAJECTORY ERROR MINIMISATION METHOD DUE TO TRANSIENT REGIME VARIATION OF INDUSTRIAL ROBOTS KINEMATIC LINKS |
| title_full_unstemmed | TRAJECTORY ERROR MINIMISATION METHOD DUE TO TRANSIENT REGIME VARIATION OF INDUSTRIAL ROBOTS KINEMATIC LINKS |
| title_short | TRAJECTORY ERROR MINIMISATION METHOD DUE TO TRANSIENT REGIME VARIATION OF INDUSTRIAL ROBOTS KINEMATIC LINKS |
| title_sort | trajectory error minimisation method due to transient regime variation of industrial robots kinematic links |
| topic | trajectory industrial robots kinematic links |
| url | https://jesr.ub.ro/index.php/1/article/view/27 |
| work_keys_str_mv | AT andreiluncanu trajectoryerrorminimisationmethodduetotransientregimevariationofindustrialrobotskinematiclinks AT gheorghestan trajectoryerrorminimisationmethodduetotransientregimevariationofindustrialrobotskinematiclinks |