PRECIZIA ROBOŢILOR INDUSTRIALI

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[N14] Negrean, I., Negrean, D. C., The Locating Matrix Algorithm in Robot Kinematics, Cluj-Napoca, October 2001, Acta Technica Napocensis, Series: Applied Mathematics and Mechanics, 2001, Vol. 2, pp. 7-14 [N15] Negrean, I., Negrean, D. C., The Matrix-Differentiating Operators in Robot Kinematics, Cluj-Napoca, Acta Technica Napocensis, Series: Applied Mathematics and Mechanics, 2001, Vol. 2, pp. 15-22. [N16] Negrean, I., Negrean, D. C., Matrix Exponentials in the Robot Control, Conferinţa ştiintifică Internaţională TMCR 2003, Chişinău, 2003, Vol.3, ISBN 9975-9748-3-X. [N17] Negrean, I., Albeţel, D.G., The Generalized Matrices in the Robot Accuracy, Conferinţa ştiintifică Internaţională TMCR 2003, Chişinău, 2003, Vol.3, ISBN 9975-9748-3-X. [N18] Negrean, I., Pîslă, D., Negrean, D. C., New Modeling with Matrix Exponentials in the Robot Accuracy, Proceedings, CSCS-14, 14 th International Conference on control Systems and Computer Science, 2003, Bucharest, ISBN 973-8449-17-0, pp. 143-148. [N19] Negrean, I., Vuşcan, I., New Formulation in the Applied Mechanics to Robotics, Proceedings of AQTR 2006 IEEE-TTTC (THETA 15), International Conference on Automation, Quality and Testing, Robotics, 2006, Cluj-Napoca, Romania. [N20] Negrean, I., Negrean, D.C., New Formulations about the Differential Matrices in Robotics, The first International Conference “Advanced Engineering in Mechanical Systems ADEMS’07” Published in the Acta Technica Napocensis, Series: Applied Mathematics and Mechanics, Vol. II, 2007, pp. 45-50, Cluj-Napoca, Romania. [N21] Negrean, I., Negrean, D.C., Duca, A.V., The Kinematics Equations in the Robot Cooperation, Proceedings, 8th International Conference MTeM, 2007, Cluj-Napoca. [N22] Negrean, I, Duca, A.V, Negrean, D.C., K. Kacso, Mecanica avansată în robotică, Editura UT Press, Cluj-Napoca, 2008, ISBN 978-973-662-420-9. [N23] Negrean, I., Duca, A.V, Kacso, K., Mura-Cozma, S., Schonstein, C, New formulations on serial robots dynamics, The 3rd International Conference on International Conference ″Computational Mechanics and Virtual Engineering″, COMEC 2009, vol.2, pag. 870-876, Editors S. Vlase, A. Chiru, Y. Niitsu, Brasov, Romania, ISBN 978-973-598-572-1. [N24] Negrean, I., Duca, A.V., Negrean, D.C., Kacso, K., “New Formulations on Acceleration Energy in the Robot Dynamics”, Proceedings of SYROM 2009, The 10th IFToMM International Symposium on Science of Mechanisms and Machines, ISBN: 978-90-481-3521-9 e-ISBN: 978-90-481-3522-6, DOI 10.1007/978-90-481-3522-6, © Springer Science+Business Media, Brașov, 2009. [N25] Negrean, I., Duca A.V, Negrean, D.C., Kacso K., New Formulations on Acceleration Energy in the Robot Dynamics, Proceedings of the 10 th IFToMM International Symposium on Mechanisms and Machines, SYROM 2009, Brașov, Romania, pages 351-364, Editor Springer Science + Business Media, Brasov, 2010, DOI 10.1007/978-90-481-3522-6_28. [N26] Negrean, I., Schonstein C., Kacso, K., Negrean, C., Duca, A., Matrix Exponentials and Differential Principles in the Dynamics of Robots, 13th World Congress in Mechanism and Machine Science, Guanajuato, México, 19-25 June, 2011. 201
[O01] L.Ojeda, L. Chung, H., and Borenstein, Precision-calibration of Fiber-optics Gyroscopes for Mobile Robot Navigation, Proc. of the 2000 IEEE Int. Conf. on Robotics and Automation, San Francisco, CA, April 24-28, pp. 2064-2069, 2000 [O02] Okafor, A.C., Ertekin, Y.M., Derivation of machine tool error models and error compensation procedure for three axes vertical machining center using rigid body kinematics. International Journal of Machine Tools & Manufacture, 2000. [P01] Park, F.C., Computational Aspects of the Product-of-Exponentials Formula for Robot Kinematics, IEEE Transaction on Automatic Control, Vol. 39, No. 3, 1994. [P02] Park, F.C., Okamura, K., Kinematic Calibration and the Product of Exponential Formula. Advances in Robot Kinematics and Computational Geometry, Cambridge, 1994. [R01] Renders, J.M, Rossignol, E., Kinematic Calibration and Geometrical Parameter Identification for Robots, IEEE Transactions on Robotics and Automation, Vol. VII, pg. 721 – 731, 1991 [S01] L. Sciavicco and B. Siciliano. Modeling and Control of Robot Manipulators. Electrical and Computer Engineering Series. McGraw-Hill, 1996 [S02] Schilling, J.R., Fundamentals of Robotics Analysis and Control, Prentice Hall Inc., 1990. [T01] N.,Tagiyev; R. Alizade, A Forward and Reverse Displacement Analysis for a 6-DOF In-Parallel Manipulator. In: Mech. Mach. Theory, Vol. 29, No. 1, pp. 115–124, London 1994. [T02] J.P,Trevelyan, Robot Calibration with a Kalman Filter. Presentation at International Conference on Advanced Robotics and Computer Vision (ICARCV96), Singapore 1996. [Y01] T. Yamada and T. Yabuta. Application of learning type feedforward feedback neural network controller to dynamic systems. In IEEE Int. Conf. on Intelligent Robots and Systems, pages 225-231, Yokohama, Japan, Jul. 1993. [Z01] H. Zhuang, J. Wu, W. Huang, Optimal planning of robot calibration experiments by genetic algorithms, in: Proceedings of IEEE 1996 International Conference on Robotics and Automation, Minneapolis, pp. 981–986, 1996 [Z02] H. Zhuang, S.H. Motaghedi, Z.S. Roth, Robot calibration with planar constraints, Proceedings of the IEEE International Conference of Robotics and Automation, Detroit, Michigan, pp.805–810, 1999 202
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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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4.5 Matricea Jacobiană a erorilor
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2 ( ) xek 0 J θ Δ & Q k=→ 1 n
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2. im 0 i i i n ∑ k= i k−1 { (
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