Abstract—This paper will present a method to improve spatial trajectories errors for end effectors of any robot using combined two solutions of home positions functions. The paper will present the magnitude of the errors in different situations, using different synchronization and zeroing systems and their influence on positioning precision of the end effectors on the spatial trajectory. There will also be presented the results of experimental research measured in the laboratory on the ceiling mounted robot at various points of the trajectory and the influence of positional errors on the calculation algorithms for all five degrees of mobility.
Index Terms—Forward kinematics, ceiling mounted robot, source code, synchronization algorithms, combined “and” function.
Niculae Mihai is with Technoaccord Inc., Laval, Quebec, Canada (e-mail: halimazerrouki519@gmail.com).
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Cite: Niculae Mihai, "Improvement of Synchronization Algorithms in Home Position for Robots with 5 Degrees of Mobility," International Journal of Modeling and Optimization vol. 8, no. 4, pp. 217-221, 2018.
