A Numerical Model for Computing the Geometrical Errors Using Transfer Matrices in Case of a 5R Robot
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Abstract
The present paper aims to present a mathematical model used for computing the geometrical errors, based on transfer matrices, which is applied on a 5R robot structure, FANUC LR Mate 100iB. The robot movement was analyzed by considering the position and orientation data from every driving joint provided from the robot teach - pendant. During the work process were collected a set of data containing the orientation angles and the generalized coordinates from each robot joint corresponding to each point from the working space reached by the end-effector and considered in the analysis. The mechanical structure for Fanuc robot as well as for the mobile platform were modeled using the Solid Work application,. Thus it was created a virtual working space similar to the real one. Thus, it was possible to gather accurate information regarding the nominal values of the generalized coordinates from each robot joint corresponding to the points the robot had to go through during the work process. Using the transfer matrices for the locating errors are finally obtained the column vectors for the geometrical errors, from every robot joint, by considering that the basic geometrical errors are known.
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