Authors:
Armin Schleinitz
;
Chris Schöberlein
;
Andre Sewohl
;
Holger Schlegel
and
Martin Dix
Affiliation:
Institute for Machine Tools and Production Processes, Chemnitz University of Technology, Reichenhainer Str. 70, 09126 Chemnitz, Germany
Keyword(s):
Robotic, Simulation, Kinematic Analyse, Inverse Transformation, Multi-Body Modelling, Feedback Control System.
Abstract:
Knowledge of robot joint position as a function of TCP-position and pose is of outstanding importance, since position and pose are specified by the process. However, there is no generally applicable method for the inverse transformation. In addition to a kinematic analysis and the inverse transformation of a 6DoF robot, this work also presents the development of a multi-body model based on it. All components are linked in a drive-specific controller structure. To validate the overall model, the simulation-based drive torques are compared with the values of a real robot. Likewise, target and actual Tool Center Point (TCP) positions of a given trajectory are examined in the simulation model and compared with a real system. It was shown that in the simulation model, the realized trajectory exhibits only very slight deviations compared to the previous trajectory, but greater deviations compared to the real system. The overall model forms the basis for further analyses regarding kinematic
joint parameters as a function of a given trajectory.
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