Matlab tool box for determining the workspace of Mitsubishi Robot RV-M1 (PDF)
(Sprache: Englisch)
Master's Thesis from the year 2002 in the subject Engineering - Mechanical Engineering, , language: English, abstract: The workspace of RV-M1 Mitsubishi Robot is determined by an analytical method.
The method is applicable to kinematic chains that can be...
The method is applicable to kinematic chains that can be...
sofort als Download lieferbar
eBook (pdf)
Fr. 37.00
inkl. MwSt.
- Kreditkarte, Paypal, Rechnung
- Kostenloser tolino webreader
Produktdetails
Produktinformationen zu „Matlab tool box for determining the workspace of Mitsubishi Robot RV-M1 (PDF)“
Master's Thesis from the year 2002 in the subject Engineering - Mechanical Engineering, , language: English, abstract: The workspace of RV-M1 Mitsubishi Robot is determined by an analytical method.
The method is applicable to kinematic chains that can be modeled using the
Denavit-Hartenberg representation for serial kinematic chains. This method is
based upon analytical criteria for determining singular behavior of the mechanism.
By manipulating the Jacobian of the robot by the row rank deficiency condition, the
singularities are computed. Then these singularities are substituted into the
constraint equations to parameterize singular surfaces. The boundary conditions of
the joints are substituted to obtain the other set of singularities. These singularities
are substituted in the wrist vector to obtain the range of motion of the robot wrist in
three dimensional space, which is the workspace of the Mitsubishi Robot RV-M1.
These singularities are plotted in Matlab to develop all the surfaces enveloping the
workspace of the Robot. The toolbox developed also shows three dimensional
view of the workspace, front view, and top view of the workspace. The utility of the
workspace development is shown through a case study, in which, Robot wrist
range is determined at different heights of Machine bed, for integration of Robot
RV-M1 and VMC Machine. A loading and unloading application of the VMC
Machine by the Robot can be planned using this data. This application is simulated
using the developed toolbox.
The method is applicable to kinematic chains that can be modeled using the
Denavit-Hartenberg representation for serial kinematic chains. This method is
based upon analytical criteria for determining singular behavior of the mechanism.
By manipulating the Jacobian of the robot by the row rank deficiency condition, the
singularities are computed. Then these singularities are substituted into the
constraint equations to parameterize singular surfaces. The boundary conditions of
the joints are substituted to obtain the other set of singularities. These singularities
are substituted in the wrist vector to obtain the range of motion of the robot wrist in
three dimensional space, which is the workspace of the Mitsubishi Robot RV-M1.
These singularities are plotted in Matlab to develop all the surfaces enveloping the
workspace of the Robot. The toolbox developed also shows three dimensional
view of the workspace, front view, and top view of the workspace. The utility of the
workspace development is shown through a case study, in which, Robot wrist
range is determined at different heights of Machine bed, for integration of Robot
RV-M1 and VMC Machine. A loading and unloading application of the VMC
Machine by the Robot can be planned using this data. This application is simulated
using the developed toolbox.
Bibliographische Angaben
- Autor: Khushdeep Goyal
- 2010, 1. Auflage, 128 Seiten, Englisch
- Verlag: GRIN Verlag
- ISBN-10: 3640577728
- ISBN-13: 9783640577729
- Erscheinungsdatum: 29.03.2010
Abhängig von Bildschirmgrösse und eingestellter Schriftgrösse kann die Seitenzahl auf Ihrem Lesegerät variieren.
eBook Informationen
- Dateiformat: PDF
- Grösse: 4.58 MB
- Ohne Kopierschutz
- Vorlesefunktion
Sprache:
Englisch
Kommentar zu "Matlab tool box for determining the workspace of Mitsubishi Robot RV-M1"
0 Gebrauchte Artikel zu „Matlab tool box for determining the workspace of Mitsubishi Robot RV-M1“
Zustand | Preis | Porto | Zahlung | Verkäufer | Rating |
---|
Schreiben Sie einen Kommentar zu "Matlab tool box for determining the workspace of Mitsubishi Robot RV-M1".
Kommentar verfassen