Abstract

MERCADO, L.D. Martínez; BOLIVAR, L. Martínez  and  MCKINLEY, J. Roldán. Velocity and acceleration kinematics of the Mitsubishi Movemaster RV-M1 serial robot. Entre Ciencia e Ingenieria [online]. 2017, vol.11, n.22, pp.84-94. ISSN 1909-8367.

The explicit formulation of the velocity and acceleration kinematics for the Movemaster RV-M1 robot is presented. The formulae are obtained from the tool position transformation matrix. The derived formulation allowed creating a Matlab graphical user interface for simulation of kinematic tasks and calculation of velocity and acceleration, for both tool and robot joints. A vertical linear weld type kinematic task was simulated and later carried out in the actual robot using programming commands and hardware provided by the manufacturer. An angular velocity DAQ was built to measure the velocities of the joints in the fixed coordinate system, and used in the experimental stage. From the results, a satisfactory validation of the mathematical formulae was made. The derived formulation for this robot was available had not been presented before.

Keywords : Robotics; velocity kinematics; acceleration kinematics; velocity DAQ; Mitsubishi RV-M1.

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