Quaternion Accuracy Model of Industrial Robots
Journal Title: RECENT - Year 2013, Vol 14, Issue 39
Abstract
The article describes existing methods and approaches to industrial robots accuracy simulation based on the matrix methods at multiply industrial robots’ motions. The main problems and disadvantages of using these existing approaches based on the analysis of informational sources also shown. Quaternion-based method of industrial robot kinematics and accuracy simulation proposed to decrease these disadvantages for stochastic simulation at multiply motion of industrial robots’ grippers. Forward kinematics task and Forward accuracy task solving using the proposed quaternion-based method described also. The Industrial robots’ quaternion accuracy model proposed to use as a basis of accuracy simulation for examine their working space.
Authors and Affiliations
Artem SAZONOV, Lubomir DIMITROV, Valerii KYRYLOVYCH
Keywords
Related Articles
- EP ID EP115471
- DOI -
- Views 76
- Downloads 0
Structural Non-Homogeneities Analysis of Zn-22 Wt. % Al Alloy by Nano-indentation
In the present paper the structure and properties of different phases/constituent of the eutectoid Zn-Al based alloys obtained by gravitational casting in brick moulds have been investigated. The microstructural analyses...
Pneumatically-Actuated Device for Wrist Rehabilitation
This paper submits a pneumatically actuated device, which may be used in the continuous passive motion, with a view to rehabilitating the wrist and the metacarpophalangeal joints. This equipment resorts, for actuation pu...
The Implementation of the Frequency Analyzer Principle for the Estimation of the Electronically Switched Capacitor's Capacitance
In this work, the authors investigated the implementation of the frequency analyzer principle to produce real-time estimates of the equivalent capacitance of the electronically switched capacitor for the two-phase induct...
Numerical Analyses of the Feeder Number Influence on the Residual Stress in a Steel Casting
In the present article, the residual stresses, formed during the cooling of a steel sand casting, are achieved by computer simulation. The casting is a real industrial product - an elevator brake wheel made of low carbon...
Evaluation of the Equipments Operational Reliability in XPS-Manufacturing Complexes
The present paper describes the creation of reliability data trends, used as a basis for the further development of some advanced reliability models and techniques. The developed methods, models and techniques are then a...