Skip to main content
SpringerLink
Log in

Algorithmization of Kinematic Modelling of Industrial Robots

  • Conference paper
Advances in Robot Kinematics

  • 132 Accesses

Summary

The paper advances the algorithmization of kinematic modelling of industrial robots by means of homogeneous translation, rotation and rotation-translation operators proposed in previous papers to simplify both thecalculation and the notations specific of the DenavitHartenberg method often employed in the kinematic analysis of robot mechanisms. The algorithm presented in the present paper is included in an expert system elaborated by the author for the simulation of the direct and inverse kinematics of industrial robots. The knowledge based modelling includes all industrial robots structures having axes of neighbouring couples parallel or orthogonal to each other and concurrent axes in the orientation chain.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution
Chapter
USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD 89.00
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  • Asada,H. and Slotine, J.-J.E. (1986) Robot Analysis and Control. John Wil ey and So ns, New York.

    Google Scholar 

  • Duditza, F., Diaconescu, D. and 6ogu,6. (1986) Structural and geometrical systematization of spacial positioning kinematic chains employed in industrial robots. Preprints Ro.man.sy.86, Cracow, Poland, p.p 289–216.

    Google Scholar 

  • Duditza,F.,6ogu,6. and Diaconescu,D. (1987) Kinematics of robot guidance mechanisms based on homogeneous operators. Proceedings of the 7th World Congress, Sevilla, Spain, vol.II, p.p. 1183–1186.

    Google Scholar 

  • Dudiaza,F.,Diaconescu,D. and 6ogu,6. (1989) Mecanisme ar- ticulate. Ineentica cinematicâ. Ed.Tehnicâ, Bucuresti.

    Google Scholar 

  • Paul,R.P. (1982) Robot Manipulators: Mathematics, Progra-mming and Control, MIT Press.

    Google Scholar 

  • Ranks, P.6. and Ho,C.Y. (1985) Robot Modelling. Control and Applications with Software. IFS Ltd. Springer-Verlag.

    Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Department of Machine Elements and Mechanisms, University of Brasov, Brasov, 2200, Romania

    G. Gogu

Authors
  1. G. Gogu
    View author publications

    You can also search for this author in PubMed Google Scholar

Editor information

Editors and Affiliations

  1. RISC-Linz, Research Institute for Symbolic Computation, Johannes Kepler University Linz, Linz, Austria

    Sabine Stifter

  2. Jožef Stefan Institute, Edvard Kardelj University, Ljubljana, Yugoslavia

    Jadran Lenarčič

Rights and permissions

Reprints and permissions

Copyright information

© 1991 Springer-Verlag Wien

About this paper

Cite this paper

Gogu, G. (1991). Algorithmization of Kinematic Modelling of Industrial Robots. In: Stifter, S., Lenarčič, J. (eds) Advances in Robot Kinematics. Springer, Vienna. https://doi.org/10.1007/978-3-7091-4433-6_6

Download citation

  • DOI: https://doi.org/10.1007/978-3-7091-4433-6_6

  • Publisher Name: Springer, Vienna

  • Print ISBN: 978-3-211-82302-6

  • Online ISBN: 978-3-7091-4433-6

  • eBook Packages: Springer Book Archive

Publish with us

Policies and ethics

Search

Navigation