Laser calibration and kinematical analysis and synthesis of robots. selected problems

摘要

The paper presents kinematical analysis and synthesis of multilink robot using general multibody approach. The multibody analysis is based on the absolute coordinate formulation. For the numerical calculation the general purpose ADAMS computer package was used Separately the problem of calibration of serial -parallel robot is discussed. For the calibration the ROBOTEST laser system was adapted which is primarily intended to measurements of other robot accuracy characteristics. The original calibration algorithm enables calibration using this system. Both selected topics have been subjects of research carried out in the Team of Robotics and Biomechanics of WUT headed by Prof. A. Morecki.