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Article title RESEARCH ON THE ACCURACY OF POSITIONING AN INDUSTRIAL ROBOT WITH ENERGY RECUPERATION
Authors V.I. Butenko, D.S. Durov, R.G. Shapovalov
Section SECTION III. TECHNICAL DEVICES. MODELING AND ANALYSIS
Month, Year 11, 2014 @en
Index UDC 621.865.8-112.5:530.145.001.57
DOI
Abstract This article aims to research issues of precision positioning robot with energy recuperation. The scheme links coordinate systems of robot gripper is considered and conducted a study of linear and angular error an arbitrary point of service devices. These errors most commonly occur due to processing errors-driven manipulator program values of generalized coordinates that match the given status of gripper device. The research was performed by simulation the center of mass the executive body of the manipulator by component in time and design guidelines for improving the positioning accuracy of industrial robots with energy recuperation are engineered . Areas improve the accuracy of positioning robots, the main of which are associated with fewer joints in their constructive performance were identified.

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Keywords Recuperation; energy; accuracy; positioning; robot gripper; rule; errors; positioning robots; system of coordinates.
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