DocumentCode
1840680
Title
Cartesian robot motion embedded on logistics process, screws approach
Author
Arbulu, Mario ; Ortiz, G. ; Beltran, L.M. ; Gonzalez, L. ; Garzon, Camilo
Author_Institution
Inf. Program, Univ. de La Sabana, Chia, Colombia
fYear
2012
fDate
11-14 Dec. 2012
Firstpage
2067
Lastpage
2071
Abstract
This work deals with the motion generation approach of cartesian robots, by the screw theory with the 6D vectors tool. With this approach, the Jacobian depends on twists instead of the partial derivate. So, it is possible to achieve an straightforward analytical solution of cartesian robot motion. Simulation results are discussed, as a first step for designing and control.
Keywords
Jacobian matrices; fasteners; industrial robots; logistics; vectors; 6D vectors tool; Jacobian; cartesian robot motion; logistics process; motion generation approach; screws approach;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Biomimetics (ROBIO), 2012 IEEE International Conference on
Conference_Location
Guangzhou
Print_ISBN
978-1-4673-2125-9
Type
conf
DOI
10.1109/ROBIO.2012.6491273
Filename
6491273
Link To Document