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TRAJECTORY ERROR MINIMISATION METHOD DUE TO TRANSIENT REGIME VARIATION OF INDUSTRIAL ROBOTS KINEMATIC LINKS


ANDREI LUNCANU *1, GHEORGHE STAN 1
1. “Vasile Alecsandri” University of Bacau, Calea Marasesti 157, Bacau, 600115, Romania
*Corresponding author, email: andreiluncanu@yahoo.com

Issue:

JESR, Number 3, Volume XXV

Section:

Issue Nr. 3 - Volume 25(2019)

Abstract:

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.

Keywords:

trajectory, industrial robots, kinematic links.

Code [ID]:

JESR201903V25S01A0004 [0004948]

Note:

Full paper:

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