NEW APPROACH FOR FORWARD KINEMATIC MODELING OF INDUSTRIAL ROBOTS

DESIGNING AND CONTROLLING INDUSTRIAL ROBOTS INVOLVES DETERMINING THE POSITION OF ITS KINEMATIC CHAINS IN RELATION TO A FIXED COORDINATE SYSTEM – THE ABSOLUTE POSITION OF THE ELEMENTS AND THE RELATIVE POSITION – REVEALED BY GENERALIZED COORDINATES. MOST OF THE WORK AVAILABLE REGARDING THIS ISSUE IS BASED ON DIRECT KINEMATICS USING THE DENAVIT -HARTENBERG (D -H AND D -H MODIFIED) CONVENTION, WHICH LEADS TO PARTICULAR GEOMETRIC MODELS AND WH ICH ARE EQUIVALENT TO A CERTAIN EXTENT BUT DO NOT CORRESPOND TO THE COMPLETE DESCRIPTION OF THE REAL ROBOT. IN ORDER FOR THIS PURPOSE, KINEMATIC MODELING USING A FULL SET OF GEOMETRIC PARAMETERS OF THE REAL ROBOT ARE MANDATORY FOR THE DEVELOPMENT OF APPROPRIATE GEOMETRIC MODELS, ESPECIALLY IF SOFTWARE COMPENSATION IS DESIRED FOR ERRORS SUCH AS THERMAL DEFORMATIONS. A NEW UNIVERSAL APPROACH FOR DIRECT KINEMATICS MODELING (APPLICABLE TO ANY TYPE OF ROBOT) WHERE THE REFERENCE SYSTEMS...

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