TECHICAL Series MATHEMATICS • INFORMATICS • PHYSICS Series PHILOLOGY Series ECONOMIC SCIENCES Sereies EDUCATIONAL SCIENCES Series LAW AND SOCIAL SCIENCES Series
Research Concerning the Positional Model of the
(Universitatea Petrol-Gaze din Ploieşti, Bd. Bucureşti 39, Ploieşti e-mail: badoiu@mail.upg-ploiesti.ro)
Vol LX • No. 1/2008
Dorin Bădoiu
Universitatea Petrol-Gaze din Ploieşti, Bd. Bucureşti 39, Ploieşti
e-mail: badoiu@mail.upg-ploiesti.ro

 Keywords   robot, joints, position, orientation, trajectory

 Abstract
The paper presents a method that permits the design of the positional model of the Lynx 6 robot system, that is, the calculus of the relative position and orientation between the component 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 interactive operating system Lynxmotion Rios SSC-32 V1-04 which controls the robot system. Finally, some simulation results are presented.

 Rezumat
Articolul prezintă o metodă care permite obţinerea modelului poziţional al sistemului robot Lynx 6. Parametrii Khalil-Kleinfinger au fost folosiţi pentru analiza poziţională. Verificarea modelului s-a realizat folosind sistemul de operare interactiv Lynxmotion Rios SSC-32 V1-04 care controlează sistemul robot. Metodologia prezentată, care a fost transpusă într-un program de calculator, poate fi apoi folosită pentru proiectarea optimă a diferitelor traiectorii în spaţiul de lucru corespunzător.




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