Abstract—The optimization in Robotics are applied to increase the 3D space precision, reduce the vibrations, choose the optimal applied base point of the robots to minimize the time of work, reduce electricity consumption, reduce the vibration and finally optimize the dynamic behavior. In the work was developed some proper algorithms to obtain, iteratively the extreme performances to the 3D space trajectory without vibration in the desirable field of the Fourier spectrum for serial and parallel robots. The research show haw can be increased the accuracy of the internal coordinate by solving the inverse kinematics with proper method with the goal to touch the extreme precision with less than 0.001mm. In the assisted researching of the dynamic behavior in mechatronics the important roles play modeling, simulation and optimization with virtual LabVIEWTM instrumentation. The paper proposes one assisted method solving the forward and inverse kinematics with the goal to minimize the final end-effecters trajectory errors, by optimizing the distance between the final position of the end-effecter and the proposed target. The proper virtual LabVIEW instrumentation used in the assisted research open the way to some other applications like: programming the collaborative robots, exoscheletons, parallel robots and multi- robots applications. The proposed method was applied to many types of the robot's structures. Virtual instrumentation easily provides comparison between theoretical and experimental results and establishes the conditions to adjust and validate the proposed mathematical models. The paper shows numerous virtual instruments and some case study to optimize the motion of parallel robots end-effecters by the assisted simulation and animation after solving the inverse kinematics.
Index Terms—Assisted method, animation, forward kinematics, inverse kinematics, LabVIEW instrumentation, modeling, simulation.
A. D. Olaru is with the University Politehnica of Bucharest, Machines and Manufacturing Systems Department, RO 60400 Romania (e-mail: aolaru_51@ ymail.com).
S. A. Olaru was with RomSys Mechatronic Private Company, RO 013713, Romania (e-mail: serban1978@yahoo.com).
N. C. Mihai is with TechnoAccord Private Company on CNC Machines Tools and Robotics, CA 4170, Canada (e-mail: mniculae@yahoo.com).
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Cite: Olaru D. Adrian, Olaru A. Serban, and Mihai C. Niculae, "Forward and Inverse Kinematics Applied to the Parallel Robot's Structure," International Journal of Modeling and Optimization vol. 7, no. 6, pp. 357-362, 2017.
