Modeling and Simulation for Cinematic and Dynamic Regime of an Industrial Articulated Robot

被引：0

作者：

Leba, Monica ^{[1
]}

Pop, Emil ^{[1
]}

Vamvu, Petre ^{[1
]}

Corbu, Corina ^{[2
]}

Covaciu, Cosmin ^{[3
]}

机构：

[1] Univ Petrosani, Syst Control Appl Informat & Comp Engn Dept, Petrosani, Romania

[2] Univ Petrosani, Math & Informat Dept, Petrosani, Romania

[3] Univ Petrosani, Petrosani, Romania

来源：

PROCEEDINGS OF THE 8TH WSEAS INTERNATIONAL CONFERENCE ON CIRCUITS, SYSTEMS, ELECTRONICS, CONTROL & SIGNAL PROCESSING (CSECS'09) | 2009年

关键词：

model; simulation; cinematic regime; dynamic regime; articulated robot;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper the cinematic and dynamic regime of an articulated industrial robot is analyzed. Beginning from the mechanical constructive characteristic parameters like dimensions, weights, angles and speeds, the robot is first cinematically analyzed, determining the cinematic model as movement matrix. Second, is determined for each joint the dynamic model as differential equations. Based on the mathematical equations, the MatLab Simulink model is built and the simulation results are presented. The method and results can be used to determine the performances like: precision and stability.

引用

页码：174 / +

页数：2