Speed Computation for Industrial Robot Motion by Accurate Positioning

  • Liliana Marilena Matica Faculty of Electrical Engineering and Information Technology University of Oradea Oradea, Romania
  • Horea Oros Faculty of Sciences, Department of Mathematics and Computer Science University of Oradea Oradea, Romania

Abstract

In this paper we define a new method for speed (velocity) computation, named mixt profile. The mixt profile of speed variation assures an accurate positioning at the end of motion (movement), in a well determinate time lapse. The method is linked with computation of location (position) matrix, about an industrial robot. Mixt profile of speed may be applied about motion on linear or circular trajectories. The paper continues the explanation from [6] regarding this method.

References

[1] Horsch, T.; Juttler, B.; Cartesian Spline Interpolation for Industrial Robots. University of Technology, Departament of mathematics, Darmstadt, Germany (http://www.ag.jku.at/pubs/csi98.pdf)

[2] Matica, L.M.; Kovendi, Z. (2011); Structure Analysis for an Industrial Robot, Journal of Computer Science and Control Systems, ISSN 1844-6043, 4(1): 89-92.

[3] Matica, L.M. (2008); Conducerea robotilor industriali, Edit. Univ. din Oradea, ISBN 978- 973-759-481-5.

[4] Choset, H. and all, Principles of Robot Motion; https://mitpress.mit.edu/books/principlesrobot- motion

[5] Laumond, J.P.; Robot Motion Planning and Control, ISBN: 978-3-540-76219-5 (Print) 978-3- 540-40917-5 (Online), http://link.springer.com/book/10.1007%2FBFb0036069;

[6] Matica, L.M.; Oros, H (2016); Speed Computation in Movement followed by Accurate Positioning of Industrial Robots, Computers Communications and Control (ICCCC), 2016 6th International Conference on, IEEE Xplore, e-ISSN 978-1-5090-1735-5, DOI: 10.1109/ICCCC. 2016.7496741, 75 - 79.
Published
2016-12-02
How to Cite
MATICA, Liliana Marilena; OROS, Horea. Speed Computation for Industrial Robot Motion by Accurate Positioning. INTERNATIONAL JOURNAL OF COMPUTERS COMMUNICATIONS & CONTROL, [S.l.], v. 12, n. 1, p. 76-89, dec. 2016. ISSN 1841-9844. Available at: <http://univagora.ro/jour/index.php/ijccc/article/view/2785>. Date accessed: 27 june 2022.

Keywords

kinematics of industrial robots; linear or circular trajectory; acceleration and deceleration stage of movement