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KEY WORDS

Robot, simulation, measurement, inverse kinematics, Denavit-Hartenberg parameters.

ABSTRACT

This paper deals with the positioning accuracies of two industrial robots, i.e., a KUKA KR 15/2 and a Fanuc LR Mate 200iC comparing measurement and modeling. The accuracy measurements are performed by Renishaw XL-80 type laser measurement system. Both robots are Articulated Manipulator (RRR), and their descriptions of Denavit-Hartenberg parameters are very similar. The inverse kinematics of the two industrial robots are also solved and analytic formulae are derived. The measurements are carried out along two perpendicular straight lines and the results are compared.

CITATION INFORMATION

Acta Mechanica Slovaca. Volume 19, Issue 4, Pages 38 – 43, ISSN 1335-2393

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  Positioning Measurements of Two Industrial Robots

REFERENCES

[1] Virgala, I., Kelemen, M., Varga, M., Kuryło, P.: Analysing, Modeling and Simulation of Humanoid Robot Hand Motion. In: Procedia Engineering: Modelling of Mechanical and Mechtronic Systems MMaMS 2014: 25th-27th November 2014. High Tatras, Slovakia. Vol. 96(2014), p.489-499.-ISSN 1877-7058.

[2] Javier Andres, Luis Gracia, Josep Tornero: Implementation and testing of a CAM postprocessor for an industrial redundant workcell with evaluation of several fuzzified Redundancy Resolution Schemes, Robotics and Computer-Integrated Manufacturing 28, 265–274, 2012.
[3] Fabricio Tadeu Paziani, Benedito Di Giacomo, Roberto Hideaki Tsunaki: Robot measuring form errors, Robotics and Computer-Integrated Manufacturing 25, 168-177, 2009.
[4] KUKA Roboter GmbH: Robot KR15/2 Technical Data, Augsburg, 1998.
[5] LR Mate 200iC Series & R-30iA Mate Controller, 2009, http://www.fanucrobotics.com/cmsmedia/datasheets/LR%20Mate%20200iC%20Series_10.pdf
[6] Spong, M., W. - Hutchinson, S. - Vidyasagar, M.: Robot Modeling and Control, John Wiley & Sons, Inc. New York, USA, 2005.
[7] RENISHAW: XL-80 Laser system training manual, 2000.
[8] Portable laser measurement and calibration, 2013, http://resources.renishaw.com/en/download/brochure-xl-80-laser-system--59031

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