Velocity and acceleration kinematics of the Mitsubishi Movemaster RV-M1 serial robot

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 fi xed 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.

• Tipo de recurso: Article of journal
• Fecha de publicación: 2018
• Institución: Universidad Católica de Pereira
• Repositorio: Repositorio Institucional - RIBUC
• Idioma: spa
• OAI Identifier: oai:repositorio.ucp.edu.co:10785/9712
• Acceso en línea: https://revistas.ucp.edu.co/index.php/entrecienciaeingenieria/article/view/42; http://hdl.handle.net/10785/9712
• Rights: openAccess
• License: Derechos de autor 2018 Entre Ciencia e Ingeniería