TECHICAL Series MATHEMATICS • INFORMATICS • PHYSICS Series PHILOLOGY Series ECONOMIC SCIENCES Sereies EDUCATIONAL SCIENCES Series LAW AND SOCIAL SCIENCES Series
Research Concerning the Optimized Positional Synthesis of the Lynx 5 Robot System
(Cercetări privind sinteza poziţională optimizată a sistemului robot Lynx 5)
Vol LXIII • No. 2/2011
Dorin Bădoiu
Universitatea Petrol-Gaze din Ploieşti, Bd. Bucureşti 39, Ploieşti
e-mail: badoiu@mail.upg-ploiesti.ro

 Keywords   robot, position, orientation, optimization.

 Abstract
The paper presents a method that permits the calculus of the inverse geometric model of the Lynx 5 robot system when an optimization criterion is adopted. The optimization criterion imposes that the displacements of the motor axes of the robot system for achieving an imposed position of the gripper characteristic point is minimum compared to the zero configuration of the robot (the configuration when all of the robot coordinates are equal to zero). Finally, some simulation results are presented.

 Rezumat
Articolul prezintă o metodă care permite calculul modelului geometric invers al sistemului robot Lynx 5 atunci când se adoptă un criteriu de optimizare. Criteriul de optimizare impune ca deplasările axelor motoare ale sistemului robot pentru atingerea unei poziţii impuse a punctului caracteristic al griperului să fie minime în raport cu configuraţia zero a robotului (configuraţia în care toate coordonatele robotului sunt egale cu zero). In final, sunt prezentate o serie de rezultate ale simulărilor.



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