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On the Positional Analysis of a Mitsubishi Robot System with Six Degrees of Freedom
(Asupra analizei poziţionale a unui sistem robot Mitsubishi cu şase grade de libertate)
Vol LXII • No. 1/2010
Dorin Bădoiu
Universitatea Petrol-Gaze din Ploieşti, Bd. Bucureşti, 39, Ploieşti
e-mail: badoiu@upg-ploiesti.ro

 Keywords   robot, rotation module, position, orientation.

 Abstract
The paper presents a method that permits the positional analysis of the Mitsubishi Melfa RV-1A robot system that contains six rotation modules. With this end in view, Khalil-Kleinfinger parameters have been used. The verification of the results obtained with the positional model has been done using the robot arm controller. Finally, some simulation results are presented.

 Rezumat
Articolul prezintă o metodă care permite analiza poziţională a sistemului robot Mitsubishi Melfa RV-1A care conţine şase module de rotaţie. Pentru aceasta au fost folosiţi parametrii Khalil-Kleinfinger. Verificarea rezultatelor obţinute cu modelul poziţional s-a făcut folosind controlerul robotului. In final, sunt prezentate o serie de rezultate ale simulărilor.



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