PRECIZIA ROBOŢILOR INDUSTRIALI
PRECIZIA ROBOŢILOR INDUSTRIALI
PRECIZIA ROBOŢILOR INDUSTRIALI
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ALGORITMI DE CALCUL ÎN CINEMATICA ȘI DINAMICA ROBOȚILOR .<br />
[ ] [ ] ⎡ 0 −k 3 k [ ] [ 2]<br />
⎤<br />
⎢ [ ] ⎥<br />
⎢<br />
0 1<br />
⎥<br />
⎢− [ ][ ] [ ]<br />
⎣ k [ ] ⎥<br />
A k<br />
i 2 A 1 0<br />
i<br />
⎦<br />
A i A i<br />
{ kA[ ] × } = kA[ ] [ ] −<br />
i i 3<br />
kA[<br />
i]<br />
( ) [ ]<br />
2<br />
( kA[ ] , α A[ ] ) = + { kA[ ] × } ⋅ − ( α A[<br />
] ) + { kA<br />
× } α<br />
i i 3 i 1 cos i<br />
i sin A[<br />
i]<br />
R I<br />
⎡ 0 −k<br />
[ ] [ 3] k [ ] [ 2]<br />
⎤<br />
× = ⎢ 3 [ 1]<br />
⎥<br />
⎢− [ ] [ ] [ ] [ ] ⎥<br />
⎣ kB k<br />
i 2 B 0<br />
i 1 ⎦<br />
B i B i<br />
{ kB[<br />
] } kB[ ] [ ] 0 −k<br />
i<br />
i B[<br />
i]<br />
( ( ) ) [ ]<br />
( )<br />
2<br />
( [ ] [ ] ) { [ ] } β<br />
B , βB = + B × ⋅ − B[<br />
] + { B × } β<br />
i i 3 1 cos i i sin i B[<br />
i]<br />
R k I k k<br />
⎡ 0 −k<br />
[ ][ 3] k [ ] [ 2]<br />
⎤<br />
= ⎢ 3 [ 1]<br />
⎥<br />
⎢− [ ] [ ] [ ][ ] ⎥<br />
⎣ kC k<br />
i 2 C 0<br />
i 1 ⎦<br />
C i C i<br />
{ kC[ ] × } kC[ ][ ] 0 −k<br />
i i C[<br />
i]<br />
( ) [ ]<br />
( )<br />
2<br />
( kC[ ] , γ C[ ] ) = + { kC[ ] × } ⋅ − ( γ C[<br />
] ) + { kC<br />
× } γ<br />
i i 3 i 1 cos i<br />
i sin C[<br />
i]<br />
R I<br />
T<br />
( )<br />
T<br />
( )<br />
T<br />
( )<br />
k x = 1 0 0<br />
k y = 0 1 0<br />
k = 0 0 1<br />
( )<br />
( α A[ ] − βB[ ] − γ C[ ] ) = ( kA[ ] , α A[ ] ) ⋅ ( kB[ ] , βB[ ] ) ⋅ kC[<br />
] , γ<br />
i i i i i i i i C[<br />
i]<br />
R R R R<br />
z<br />
[ ]<br />
[ ]<br />
[ ]<br />
A = x x x x y y y y z z z z<br />
B = y y z z z z x x x x y y<br />
C = z x x y x y y z y z z x<br />
= ( ( α A[ ] − β [ ] − γ<br />
i B i C[<br />
i]<br />
)[ ][ ] )<br />
lungmin lungime R 0 0<br />
> ( ( α A[ ] − β [ ] − γ<br />
i B i C[<br />
i]<br />
)[ ][ ] )<br />
lungmin lungime R l m<br />
= ( ( α A[ ] − β [ ] − γ<br />
i B i C[<br />
i]<br />
)[ ][ ] )<br />
lungmin lungime R<br />
lin[ i ] =l col [ i ] =m<br />
l m<br />
( )<br />
54<br />
R<br />
( α A[ ] − β [ ] − γ<br />
i B i C[<br />
i]<br />
)<br />
lin[ i] col[ i]<br />
Figura 2.3 Algoritmul pentru determinarea a celor 12 seturi de unghiuri de orientare