تست عملكرد ربات 6 محوره به كمك معادلات سينماتيكي و تعيين محدوده كاري آن

Functional Tests of 6R Robot by Kinematics Equations and Determination of Its Working Space

In this paper, efforts were made in order to use the visual system in controlling an industrial 6R robot and also it is tried that the visual system, realizes the target and controls the robot by taking picture from the environment and processing the picture. To test the action of Robot, Kinematic equation are used. In Direct Kinematics test, the quantities of joint angles are determined. On the basis of the given angles, the location of the end-effector is calculated by the system and via the Transition Matrix. In Inverse Kinematics test, the specifications of the location of the end-effector are accessible. Using Inverse Kinematics equations, the quantity of joint angles are distinguished and the robot rotates to that quantities and on this basis, the location of the end-effector in space becomes distinct. Since the movement of each of the joints has a limited scope and junction of the joints limits their movement scope, the need for knowledge of the working space of a robot seems necessary. To find Singular Points, we seem determinant of the Jacobean matrix equal zero and we determined the working space of the robot by Matlab Simulink. Finally the results are tested within the ANSI-RIA R15.05-2 standard.