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- W49915529 abstract "ABSTRACT This paper presents a step on how to optimize the energy and performance ofan industrial robot. The project consist of three major phases; (1) theoretical,simulation and practical of forward and inverse kinematics for Fanuc LR Mate200iB robot to determine their D-H parameters, (2) optimization of robotmovements, and (3) implementation of practical tasks. The optimizationprocess involves the control of two parameters known as position of jointangle (q) and speed of the motor (w) of the three (3) main axes of the robot. Theenergy is measured regarding 3 types of categorized movements known asreference, fixed and optimized which do the same repetitive task. Its forwardand inverse kinematics problems will be simulated using Robotic tools ofMatlab 7.0 and Roboguide V2.3.2. The simulation results will be compared withthe real practical movements. This paper will describe the techniques,calculations and methods on how the second phase was done. Keywords: Manipulators, Optimal Control, Path-Finding, Dynamic Performance." @default.
- W49915529 created "2016-06-24" @default.
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- W49915529 date "2008-01-01" @default.
- W49915529 modified "2023-09-26" @default.
- W49915529 title "MOTION AND ENERGY OPTIMIZATION OF VISION GUIDED MANIPULATOR FOR OPTIMAL DYNAMIC PERFORMANCE" @default.
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