DIRECT AND INVERSE KINEMATICS TO THE ANTHROPOMORPHIC ROBOTS

Autores

  • Florian Ion Tiberiu Petrescu Bucharest Polytechnic University
  • Relly Victoria Virgil Petrescu Bucharest Polytechnic University

DOI:

https://doi.org/10.22409/engevista.v18i1.729

Resumo

The paper presents an original geometrical and kinematic method for the study of geometry and determining positions of a MP-3R structure. It presents shortly the MP-3R direct and inverse kinematics, the inverse kinematics being solved by an original exactly method. One presents shortly an original method to solve the robot inverse kinematics exemplified at the 3R-Robots (MP-3R). The system which must be solved has three equations and three independent parameters to determine. Constructive basis is represented by a robot with three degrees of freedom (a robot with three axes of rotation).  If one study (analyzes) an anthropomorphic robot with three axes of rotation (which represents the main movements, absolutely necessary), it already has a base system, on which one can then add other movements (secondary, additional). Calculations were arranged and in the matrix form.

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Biografia do Autor

Florian Ion Tiberiu Petrescu, Bucharest Polytechnic University

Nihil sine Deo

Ph.D. Eng. Florian Ion PETRESCU
Senior Lecturer at UPB (Bucharest Polytechnic University).

Citizenship: Romanian;
Date of birth: March.28.1958;
Higher education: Polytechnic University of Bucharest, Faculty of Transport, Road Vehicles Department, graduated in 1982, with overall average 9.63;

Doctoral Thesis: „Theoretical and Applied Contributions About the Dynamic of Planar Mechanisms with Superior Joints”.

Expert in Industrial Design, Engineering Mechanical Design, Engines Design, Mechanical Transmissions, Dynamics, Vibrations, Mechanisms Machines Robots and Mechatronics.

Association:
Member ARoTMM - IFToMM, SIAR-FISITA, ARR.

Languages known:
-French; -English.

Related activities and functions:

Instructor and Social Commission Head of CUB (Bucharest’s University Center) 1985-1987, the Third Head of CUB after [Moncea] and Bostan, 1985-1987.

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Publicado

2016-07-27

Edição

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