학술논문
Contributions to the geometric and kinematics modeling of serial modular portal robots with TRTTR structure
Document Type
Conference
Author
Source
2008 IEEE International Conference on Automation, Quality and Testing, Robotics Automation, Quality and Testing, Robotics, 2008. AQTR 2008. IEEE International Conference on. 2:356-360 May, 2008
Subject
Language
Abstract
For an industrial serial portal robot with TRTTR structure for which the geometrical-constructive dimensions are known, determining the workspace means finding the acceptable positions of the end-effector. The functional perturbations of the motions of the motor couples cause deviations from the desired trajectory and also deviations of the velocities and accelerations of the couples.