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First name, Middle name, Last name, Scientific degree, Scientific rank, Current position. Full and brief name of the organization, The organization address.Makhmutov M.M. – candidate of technical sciences, senior lecturer E-mail: This e-mail address is being protected from spambots. You need JavaScript enabled to view it Sakhapov R.L. – doctor of technical sciences, professor, E-mail: This e-mail address is being protected from spambots. You need JavaScript enabled to view it Zemdikhanov M.M. – candidate of technical sciences, assistant professor E-mail: This e-mail address is being protected from spambots. You need JavaScript enabled to view it Kazan State University of Architecture and Engineering The organization address: 420043, Russia, Kazan, Zelenaya st., 1
Title of the articleDirect and inverse problem of kinematic accuracy of industrial robots
Abstract.In the article was reviewed the questions of kinematic accuracy of manipulating industrial robots. Received dependences of linking the overall error positioning of the robot through an inaccuracy, parameters programmable manipulator and its position in the working area. Stated and solved the direct and inverse problem of kinematic accuracy manipulation robots. The error of the robot positioning depends on many factors: the accuracy of the processing management system, controlled, generalized coordinates of the actuator, the accuracy of processing the details of construction, the deformation of the main units and gear mechanisms and other factors. In various robot operating conditions the most important role can play a variety of factors. Below is a look at one of the major components – a kinematic robot accuracy. Under the programmable values of the generalized coordinates will understand the value found for a given position of a gripper device of a robot, but these values are usually determined by solving the inverse problems about the provisions of the manipulator. Set and solved the direct and inverse kinematic precision manipulator robots.
Keywords.kinematic accuracy, accuracy linear and angular of position programming error, direct and inverse kinematic accuracy.
For citations:Makhmutov M.M., Sakhapov R.L., Zemdikhanov M.M. Direct and inverse problem of kinematic accuracy of industrial robots // Izvestiya KGASU. 2016. №4(38) P.485-489.


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