PRECIZIA ROBOŢILOR INDUSTRIALI

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[J01] Järviluoma, M., Heikkilä, T., Modelling the Positioning Accuracy of Sensor Based Robots, SPIE Vol. 3208. 0277-786X97, 1997. [J02] Judd, R.P, Knasinky, A.B., A Technique to Calibrate Industrial Robots with Experimental Verification, 1991, IEEE Transactions on Robotics and Automation, pg. 721 - 731. [K01] Kevin l. Conrad, Panayiotis s. Shiakolas - Robotic Calibration Issues: Accuracy, Repeatability and Calibration, Proceedings of the 8th Mediterranean Conference on Control & Automation (med 2000), Rio, Patras, Greece, 17-19 July 2000; [K02] Khalil, W., Gautier, M., Enguehard, Ch. , Identifiable Parameters and Optimum Configurations for Robots Calibration. Cambridge University Press. 1991, Robotica, Vol. IX, pg. 63 - 70. [K03] Kreyszig, E., Advanced Engineering Mathematics. New York, John Wiley & Sons, 1993. [K04] T. R. Kurfess , Robotics and automation handbook, Edited by Thomas R. Kurfess, CRC Press, 2005 [K05] K. Kacso, Contribuții privind modelarea și simularea roboților mobili și roboților cu structură serială, teză de doctorat, februarie, 2011. [L01] F. Lange, J. Langwald, and G. Hirzinger. Predictive feedforward control for high speed tracking tasks. In European Control Conference, Karlsruhe, Germany, August / September 1999. [L02] Lewis, F.L., Abdallah, C.T., Dawson, D.M., Control of Robot Manipulators, MacMillan Publishing Company, New-York, 1993. [L03] Lung-Wen Tsai, Robot Analysis: The Mechanics of Serial and Parallel Manipulators Wiley-IEEE, pag.26, 1999 [M01] C. Mavroidis, S. Dubowsky, P. Drouet, J. Hintersteiner, J. Flanz, A systematic error analysis of robotic manipulators: application to a high performance medical robot, Proceedings of the 1997 IEEE Int. Conference of Robotics and Automation, Albuquerque, New Mexico, pp. 980–985, 1997. [M02] M. Meggiolaro, C. Mavroidis, S. Dubowsky, Identification and compensation of geometric and elastic errors in large manipulators: application to a high accuracy medical robot, Proceedings of the 25th Biennial Mechanisms Conference, ASME, Atlanta, 1998. [M03] M. Meggiolaro, S. Dubowsky, An analytical method to eliminate the redundant parameters in robot calibration, Proceedings of the International Conference on Robotics and Automation (ICRA _2000), IEEE, San Francisco, pp. 3609–3615, 2000 [M04] Menq, C-H., Yau, H-T., Lai, G-Y., Automated Precision Measurement of Surface Profile in CAD- Directed Inspection, IEEE Transaction on Robotics and Automation, 1992. [M05] Mekid, S., Design Strategy for precision engineering: Second order phenomena’, Journal of Engineering Design, 2005. [M06] Mekid, S., Introduction to Precision Machine Design and Error Assessment, CRC Press, 2008. 199
[M07] Moorring, B.W, Roth, Z.S, Driels, M.R. Fundamental of Robot Calibration . s.l. : John Wiley and Sons, 1991. pg. 221 - 225. Vol. I. [N01] Negrean, Contribuţii la optimizarea parametrilor cinematici şi dinamici în vederea măririi preciziei de funcţionare a roboţilor, Teză de doctorat, Cluj-Napoca, Romania, 1995. [N02] Negrean, I., The influence of Denavit-Hartenberg type parameters upon robot kinematic accuracy, The Second ECPD International Conference on Advanced Robotics, Intelligent Automation and Active Systems, Vienna, 1996, pp.474-479. [N03] Negrean, I., Vuşcan, I., Modelling of Dynamic Accuracy for Robots, First Part - DH-type and DM-type Errors Modelling, The Seventh IFToMM International Symposium on Linkages and Computer aided Design Methods, Bucharest, August 1997, Vol.II, [N04] Negrean, I., Vuşcan, I., Modelling of Dynamic Accuracy for Robots, Second Part - The Model of Optimising Kinematic and Dynamic Accuracy, The Seventh IFToMM International Symposium on Linkages and Computer Aided Design Methods, Bucharest, August 1997, Vol.II, pp.239-244. [N05] Negrean, I, Vuşcan, I, Haiduc, N, Robotică. Modelarea cinematică şi dinamică, Editura Didactică şi Pedagogică, R.A., Bucureşi, 1997. [N06] Negrean, I., Vuşcan, I., Forgo, Z., Inverse Modelling of the Kinematical Errors of Industrial Robots, INES'97, IEEE International Conference on Intelligent Engineering Systems, Proceedings, Budapest, Hungary, September 1997, pp.135-140. [N07] Negrean, I., Forgo, Z., Inverse Modelling of the Dynamic Errors of Robots, INES'98, IEEE International Conference on Intelligent Engineering Systems, Proceedings, Vienna, Austria, September 1998, pp.457-462. [N08] Negrean, I., Forgo, Z., Modelling Formalism in the Robot Kinematic Control, the 9th DAAAM International Symposium, Cluj-Napoca, October 1998, pp.343-344. [N09] Negrean, I., et al, Robotics - Kinematic and Dynamic Modelling, Editura Didactică şi Pedagogică R.A., ISBN 973-30-5958-7, Bucharest, 1998. [N10] Negrean, I., Kinematics and Dynamics of Robots-Modelling-Experiment-Accuracy, Editura Didactică şi Pedagogică R.A., ISBN 973-30-9313-0, Bucharest, 1999. [N11] Negrean, I., Matrix Exponentials in Robot Mechanics, Simpozionul Naţional cu Participare Internaţională ROBOTICA 2000, Ediţia a XV-a, Oradea, Octombrie 2000, [N12] Negrean, I., Negrean, D. C., Matrix Exponentials to Robot Kinematics, 17 th International Conference on CAD/CAM, Robotics and Factories of the Future, CARS&FOF 2001, Durban, South Africa, July 2001, Vol.2, pp. 1250-1257. [N13] Negrean, I., Negrean, D. C., The Matrix Exponentials Formalism to Robotics, The Eight IFToMM International Symposium on Theory of Machines and Mechanisms, SYROM 2001, Bucharest, Vol.2, pp. 247-252. 200
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FACULTATEA CONSTRUCŢII DE MAŞINI
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3. MODELAREA ERORILOR GEOMETRICE...
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j { { i; j} = 1 → n } p ij , vect
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{ unde i = 1 → n} qɺ i viteza li
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xy Q Δ J Matricea Jacobiană pentr
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NOȚIUNI GENERALE PRIVIND PRECIZIA
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ALGORITMI DE CALCUL ÎN CINEMATICA
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PRECIZIA ROBOȚILOR INDUSTRIALI . .
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link i −1 q ⋅k i−1 i−1 { i
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4.2 Matricea Jacobiană și proprie
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( ) n0 X && t () 135 PRECIZIA ROBO
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137 PRECIZIA ROBOȚILOR INDUSTRIALI
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4.5 Matricea Jacobiană a erorilor
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2 ( ) xek 0 J θ Δ & Q k=→ 1 n
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Page 169 and 170: 7. INFLUENȚA ERORILOR DINAMICE ASU
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Page 175 and 176: 8.APLICAȚII PRIVIND DETERMINAREA P
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Page 187 and 188: APLICATII 192 Algoritmul matricei J
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Page 191 and 192: APLICATII Cupla Matricea erorilor d
Page 193: [C02] H.Chung, L. Ojeda, J. Borenst
Page 197: [O01] L.Ojeda, L. Chung, H., and Bo
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