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GEOMETRICAL AND KINEMATICAL CONTROL FUNCTIONS FOR A CARTESIAN

ROBOT STRUCTURE

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 - 209 -

TECHNICALUNIVERSITY OF CLUJ-NAPOCA

ACTA TECHNICA NAPOCENSIS

Series: Applied Mathematics, Mechanics, and Engineering
Vol. 61, Issue Special, September, 2018

GEOMETRICAL AND KINEMATICAL CONTROL FUNCTIONS FOR

A CARTESIAN ROBOT STRUCTURE
Claudiu SCHONSTEIN, Mihai STEOPAN, Razvan CURTA, Florin URSA

Abstract: Based on the idea of bringing more flexibility to a working process, the paper is dedicated to
the presentation of geometry and kinematics equations for a Cartesian robot structure. The algorithms
used in the mathematical modeling of mechanical robot structures, are used for establishing, on one hand
of the homogeneous transformations in the direct geometry modeling, and on the other hand to determine
the kinematics equations. The kinematic modeling of a mechanical system with n degrees of freedom,
involves an impressive volume of computational or differential calculus. There are algorithms dedicated
to this task developed in the literature. Will be established in analytical form, the direct equations for
geometric and kinematic model using dedicated algorithms, for realize the kinematic control, namely the
establishment of linear and angular speed/acceleration of every kinetic joint of robot and the tool central
point.
Key words: mechanical systems, mathematical modeling, control functions, velocity, acceleration.

1. INTRODUCTION proposed for implementation in an industrial

process.
The robots are parts of the manufacturing
systems, which are performing complex
operations in order to achieve the imposed task.
In keeping with the fact that the systems during
operations are performing moving trajectories
situated in the configuration space, or in the
Cartesian space, it’s imposed a continuous
control of every driving joint, in order to
achieve a proper control of the kinematic
parameters of the mechanical system, hence the
purpose of the paper is to determine the
kinematic equations for a Cartesian robot
structure, presented in Fig. 1.

2. GEOMETRICAL MODELING OF THE

3TR ROBOT

In order to determine the kinematic control
functions for the proposed 3TR robot structure,
there must be determined first the geometry
equations. Hence, using consecrated algorithms
there can be determined the direct geometry
equations, for the 3TR mechanical structure
Fig. 1. The 3TR Cartesian robot structure
The specific transfer matrix equation for a
mechanical structure having rotational ( R ) or
translational (T ) motions, according to [1]-[2],
can be expressed using algorithms. These
algorithms allowing detailed analysis, under
- 210 -

numerical and/or graphical form, on geometry, i

kinematics and dynamics of any mechanical pi i −1 =

0
i −1 [ R ] ⋅
i −1
ri i −1 ; pi = ∑ p j j −1 . (7)
j =1
structure of any type and complexity.
The situation matrix, between {0} → {i } is:
0
i
j −1
 0i [R ] pi 
2.1 Direct Geometry Equations in Robotics i [T ] = ∏ [ ]
j T = . (8)
The Direct Geometry Equations (DGM j =1  0 0 0 1 
equations) can be determined by applying the and for the end-effector:
Matrix of Locating Algorithm, taking into 0 0 n s a p
n +1 [T ] = n [T ] ⋅ Tn +1n =  . (9)
account the minimum number of, geometric or  0 0 0 1 

mechanical restrictions. In concordance with The orienting vector is defined [1]-[4]

[1], the situation matrix are defined as: with the following identity:
 Ri i −1 i −1 ( 0 ) 
pi i −1  Ri 0 pi(00 )  R (α A − βB − γ C ) = { 0
n +1
[R ] };ψ = (α A βB γ C ) T (10)
Ti i −1 =  ;Ti 0 = . (1)
0 0 0 1  0 0 0 1  The DGM equations are included in the
following generalized matrix:
Similarly, for i = n + 1,
the locating matrices
between the frames {n} → {n + 1} and  p    px py pz  
T
0
X =  =  . (11)
{0} → {n + 1} are defined according to the  ψ   α βy γ z  
T
    x 
following expressions:
The Direct Geometrical Modeling (DGM),
n (0) s
( 0)
a
(0) n
pn0+1n 
( )
Tn +1n =  regardless of the algorithm used, aims to
 0 0 0 1  establish the geometry equations that will serve
(2) in determining the Direct Kinematic Model.
n ( 0) s
(0)
a
(0)
p
(0) 
l2 l3
Tn +10 = Tn 0 ⋅ Tn +1n = 
 0 0 0 1  q2 z2
y2
z1 z3
( 0)
In the expressions (2), p is a vector which y3
x3
defines the position of the last joint with y1 q3 x2
reference system attached to base of the robot, ( ) z4
O1 0 l4 q4
y4
and n pn( 0+)1n characterizes the relative position of q1 x1 O40
( )
x4
l5
the system attached to end effector besides the s
geometrical center of the last joint. n
l1 a
For i = 1 → n , the situating matrices between
two close related system {i − 1} → {i } are:
(
 R k i ; qi ⋅ ∆ i ) (1 − ∆ i ) ⋅ qi ⋅ i ki  ;
(
T∆ ki ; qi ) =
 0 0 0 1 
(3) z0
  y0
i −1
i [T ] = Ti i −1 ⋅ T∆ ( ki ; qi ) .
(4) O0
x0
According to [1]-[4], the rotation matrix
between two neighboring reference frames is:
i −1
i
[R] = { R ( xi ;qi ⋅ ∆ i );R ( yi ;qi ⋅ ∆ i );R ( zi ;qi ⋅ ∆ i ) } (5) Fig. 2. The kinematic scheme of 3TR Robot

pi(i −)1 + 1 − ∆ i ⋅ qi ⋅ i ki .
( )
i −1 i −1 0
ri = (6) 2.2 Direct Geometry Equations for 3TR
For i = 1 → n , the position vector between {i } structure
and {i − 1} with respect to {0} fixed frame, For determining the DGM equations, it will
be applied the Locating Matrix Algorithm.
respectively the position of joint {i } related to According to the first step, related to algorithm,
the same fixed frame is determined as: it is represented in Fig. 2, the kinematic scheme
of the robot in the initial configuration, when
 - 211 -

all the generalized coordinates are initialized to 1 0 0 q1 

0 1 0 l2 + q2 
zero: θ (0 ) = [qi = 0; i = 1 → 4 ]T .  0
2 [R] ≡ I3 p2 
 == 
0
2
[T ] =  0 0 1 l1 
(16)
According to the input data  000 1 
 
corresponding to DGM, the matrix of nominal 0 0 0 1 
( 0)
geometry Mvn for 3TR robot type is given in According to (4) there is obtained:
Table 1. 1 0 0 l3 
Table 1  2  0 1 0 0 
3 [R ] ≡ I3 p32
=
2
The matrix of nominal geometry for 3TR structure [T ] =  ;(17)
3
 000 1  0 0 1 q3 
kiT  
Joint{R,T}

T
@ [ pii −1 ] = pi − pi −1
Element

0 0 0 1 
@ px @ py @pz ki x kiy kiz
ii −1 ii −1 ii −1 On the basis of the same expression (8) in
1 T 0 0 l1 1 0 0 keeping with (16) and (17), there is obtained:
2 T 0 l2 0 0 1 0 1
0 l3 + q1  0
3 T 0 0 0 0 1  03 [R] ≡ I  0
0 l2 + q2  1
l3 p3
 == 
0
[T ] =  3
(18)
4 R 0 0 −l 4 0 0 1 3
 0 0 0 1  0
1 l1 + q3  0
 
5 - 0 0 −l5 1 0 0 0 0 0
1 

As can be seen in the Fig. 2, the robot is included For i = 4 , the situation matrices {4} → {3} are:
in to the class of mechanical olonomous cosq4 −sinq4 0 0 
systems, has four degrees of freedom,  34 [R]   sinq cosq 0 0 
p43
=
3 4 4
represented by the generalized coordinates as: 4
[ ] 
T =
 0 0 1 − l4 
; (19)
 0 0 0 1 
q1 −Translation along ± x1 axis;  
 0 0 0 1 
q2 −Translation along ± y1 axis;
(12) which, in keeping with (18), according to (8)
q3 −Translation along ± z3 axis; are leading to:
q4 − Rotation around ± z4 axis. cos q4 − sin q4 0 l3 + q1 
 sin q cos q4 0 l 2 + q2 
In keeping with Table 1, and Figure 2, there 0
4
[T ] =  0 4 0 1 l1 − l 4 + q3 
(20)
are highlighted the geometrical particularities  
for the 3TR serial robot, as following:  0 0 0 1 
( i = 1; k1 ≡ x1 ; ∆ 1 = 0 ); ( i = 2; k2 ≡ y 2 ; ∆ 2 = 0) ; For the coordinate system attached to the end
(13)
effector, there is established :
( i = 3; k3 ≡ z3 ; ∆ 3 = 0) ;( i = 4; k4 ≡ z1 ; ∆ 1 = 1).
0 1 0 0
According to (1), taking into account the fact 
4 n s a 4
p5  1 0 0 0 
that the first joint is translational joint, there is 5
[T ] =  0 0 0
=
1  1 0 −1 −l5 
(21)
established: 
 
1 0 0 q1  0 0 0 1 
 0  0 1 0 0  and the homogenous transformation matrix,
1 [R ] ≡ I3 p1
=
0
[T ] =  (14) between {5}-{0} is :
1
 000 1  0 0 1 l1 
  − sin q4 cos q4 0 l3 + q1 
0 0 0 1 
 cos q 
0  4 sin q4 0 l2 + q2 
For the second joint, on the basis of (3), (4) and 5
[T ] =
 0 0 −1 l1 − l4 − l5 + q3 
(22)
(1), there is obtained:  
 0 0 0 1 
1 0 0 0 
 1[R] ≡ I  0 1 0 l2 + q2  In the expression, which characterizes the
p21
 =
1
[2 T] =  2 3
(15) location matrix (20), are included the rotation
 0 0 0 1  0 0 1 0 
 
0 0 0 1  matrix 05 [R ] and the vector position p5 . The
To establish the homogenous transformation components of the two matrices are:
matrix, there is used expression (8), which
leads to:
- 212 -

 − s q1 c q1 0  defined the kinematic parameters with respect

0
5 [ ]  c q1 s q1 0 
R = (23) to the fixed reference frame, attached to the
 0 0 −1 base. [5], [6].
 l 3 + q1 
  3.1 The Iterative Algorithm for Direct
p5 =  l 2 + q2  (24)
Kinematical model
 l1 − l 4 − l5 + q3  In applying the iterative algorithm according
representing the resulting orientation matrix to [1],[3], for the first joint, i = 1 it has to be
(23) and the position vector (24), between assumed that absolute kinematic parameter
{5} → {0} frames, both being included in the values corresponding to the fixed base of the
column vector of operational variables (11). mechanical structure of the robot are:
According to [1], in order to establish the { 0ω0 = 0, 0ω&0 = 0, 0v0 = 0, 0v&0 = 0 } (29)
orientation angles, α x , β y , γ z for determination
For i = 1 → n , there are determined the angular
of the values, there is used the trigonometric and linear velocities which are defining the
function A tan 2 , defined by: absolute motion of each kinetic link using the
 {α;[sα ≥ 0;cα > 0] };  expressions :
  0 0
 π / 2 + α;[sα > 0;cα < 0]  ωi = 0ωi −1 + ∆ i ⋅ i [R ] ⋅ q&i ⋅ i ki (30)
{ }
x = A tan2( sα;cα ) =   (25)
 {π + α;[sα < 0;cα < 0] }; 
0
vi = ( 0
) (
v i −1 + 0ωi −1 × pii −1 + 1 − ∆ i ⋅ q&i ⋅ 0ki ; (31) )
  Similarly, for each i = 1 → n , kinetic link of the
{−π / 2 + α;[sα < 0;cα ≥ 0] }
  robot, the corresponding angular and linear
Hence, in keeping with (25), results: accelerations projected on the fixed reference
α x = A tan 2 ( sα x ; cα x ) = A tan2 ( 0; −1) = π (26) system are defined as follows:
ωi = 0ω&i −1 + ∆ i ⋅ { 0ωi −1 × q&i ⋅ i [R] ⋅ i ki + q&&i ⋅ i [R] ⋅ i ki } (32)
0 0
γ z = π + q1 , and β y = 0 (27) 0&
2
representing the orientation angles. 0&
vi = ( v&
0
i −1 + 0ω&i −1 × pii −1 + 0ωi −1 × 0ωi −1 × pii −1 + )
In keeping with (23)-(27), the column vector ; (33)
of operational coordinates, defined by (11), is: (
+ 1− ∆ i ){ 2 ⋅ 0ωi × q&i ⋅ 0ki + q&&i ⋅ 0ki }
 l3 + q1  In the second part of the iterative algorithm, are
 
 l 2 + q2  determined the kinematic parameters, which
  characterizing the movement in each i = 1 → n
l1 − l 4 − l5 + q3 
0
X = (28) kinetic link relative to the {i } mobile frame as:
 π 
  0 T i
 0 
i
ωi = i [R ] ⋅ 0ωi = i −1 [R ]⋅ i −1ωi −1 + ∆ i ⋅ q&i ⋅ i ki ; (34)
 π +q 
 ( )
2 1 
i 0 T
vi = i [R] ⋅ 0vi = i −1[R] ⋅
i
{ i −1
vi −1 +⋅i −1ωi −1 × i −1pii −1 + }
.(35)
The expression (28) characterizes the Direct
Geometric Modeling of the robot type 3TR ( )
+ 1− ∆ i ⋅ q&i ⋅ i ki

studied. The parameters included in (28) are The expressions of angular and linear
expressing the position and orientation of the accelerations projected on the mobile reference
end effector with respect to the fixed reference system {i } , that characterizing the relative
system, attached to the base of the robot. movement of each i = 1 → n link are defined by
the following expressions:
0 i
3. KINEMATICAL MODELLING OF
i
ω& i = i [R ] ⋅ 0ω& i = i −1 [R ] ⋅
i −1 &
ωi −1 +
THE 3TR ROBOT STRUCTURE ; (36)
+∆ i ⋅ { i −1 [ R ] ⋅ i −1ωi −1 × q&i ⋅ i k i + q&&i ⋅ i ki }
i

In this paragraph will be established the i&

vi
i
= i −1[R]⋅ 0v&i = i −1[R]⋅
i
{ i −1&
vi −1 + i−1ω& i −1× i−1pii −1 +
operational kinematic parameters that express (37)
the movement of the end effector in Cartesian }( )(
+ i −1ωi −1× i −1ωi −1× i −1pii −1 + 1−∆i ⋅ 2⋅ iωi ×q&i ⋅ iki +q&&i ⋅ iki )
space. To define these parameters it is used the
Iterative Algorithm. With this algorithm will be
 - 213 -

In the last step, the absolute motion of the final

effector i = n is defined, taking into account the
0
v4 = ( 0
v 3 + 0ω3 × p43 = ( q&1 q&2 ) q&3 )
T
; (53)
0 T
situation equations, respectively the absolute ω& 4 = 0ω& 3 = ( 0 0 q&&4 ) ; (54)
linear and angular velocities and accelerations
(operating velocities and accelerations).
0&
v4 ( T
)
= 0v&3 + 0ω&3 × p43 + 0ω3 × 0ω3 × p43 = ( q&&1 q&&2 q&&3 ) (55)

T The expressions (40)-(55), are defining the

X =  ( ) v nT ( ) ωnT  ;
( n )0 & n 0 n 0
(38) absolute motion of the end effector, taking into
 
( n )0 &&  ( n )0 & T ( n )0 & T T .
account the situating equations and absolute
X = vn ωn (39) linear and angular accelerations.
 
Thus, based on the 3TR structure configuration,
3.2 Direct kinematics equations for 3TR for i = 1→ 4 the following kinematic
structure parameters characterizing the movement in
In keeping with (13), according to (30)-(33), for driving joint, relative to the mobile reference
the first joint of the robot, are determined: system {i } , according to (34)-(37) are
0 T
determined as follows:
0
ω1 = 0ω0 + ∆1 ⋅ 1 [R ] ⋅ q&1 ⋅ 1k1 = ( 0 0 0 ) ; (40) 1 0 T T
ω1 = 1 [R ] ⋅ 0ω1 = ( 0 0 0 ) ; (56)
0
( )
v1 = 0v0 + 0ω0 × p10 + (1− ∆1 ) ⋅ q&1 ⋅ 0k1 = ( q&1 0 0)
T
(41) 1
v1 =
0
[R ]T ⋅ 0v1 = ( q&1 0 0 )T .
1
(57)
0
{
ω&1 = 0ω& 0 + ∆1 ⋅ 0ω0 × q&1 ⋅ 0k1 +q&&1 ⋅ 0k1 = [0 ] ; (42) } (3×1)
1& 0 T
ω 1= 1 [ R ] ⋅ 0ω&1 = ( 0 0 0 ) ; (58)
1& 1 T
v1 = 0 [R ]⋅ 0v&1 = ( q&&1 0 0 ) (59)
0&
v1 ( v& + ω& × p + ω × ω × p ) +
= 0
0
0
0 10
0
0
0
0 10 2
ω2 =
0
[R ] T
⋅ 0ω2 = ( 0 0 0 )
T
; (60)
(43) 2
+ (1 − ∆ ) {2 ⋅ ω × q& ⋅ k + q&& ⋅ k } = ( q&& 0
0 0 0 T
0) 0
1 1 1 1 1 1 1 2
v2 = [R ]T ⋅ 0v 2 = ( q&1
2
q&2 0)
T
. (61)
On the basis of the same (30)-(33) and (13), for 2& 0
ω 2 = 2 [ R ] ⋅ 0ω& 2 = ( 0 0 0)
T
; (62)
the second joint, there is obtained: 2& 2 T
v 2 = 0 [R ]⋅ 0v&2 = ( q&&1 q&&2 0) (63)
0 0 0 2 T
ω2 = ω1 + ∆ 2 ⋅ 2 [R ] ⋅ k2 ⋅ q& 2 = ( 0 0 0 ) ;(44) 0
3
ω3 = 3 [R ]T ⋅ 0ω3 = ( 0 0 0)
T
; (64)
0
(
v2 = v1 + ω1 × p21 0 0
) T
+ (1− ∆2 ) ⋅ q&2 ⋅ 0k2 = ( q&1 q&2 0) (45) 3
v3 =
0
3 [R ] T
⋅ 0v 3 = ( q&1 q&2 q&3 )
T
. (65)
0&
ω2 = 0&
ω1 +∆2 ⋅ { 0 0 0
ω1 ×q&2 ⋅ 2 [R] ⋅ 2k2 +q&&2 ⋅ 2 [R] ⋅ 2k2 } = [0] ;(46)
(3×1)
3 0 T
ω& 3 = 3 [ R ] ⋅ 0ω& 3 = ( 0 0 0 ) ; (66)
3 3 T
0&
v2 (
= 0v&1 + 0ω&1 × p21 + 0ω1 × 0ω1 × p21 + ) v&3 = 0 [R ]⋅ 0v&3 = ( q&&1 q&&2 q&&3 ) (67)
(47) 0
4
ω4 = [R ]T ⋅ 0ω4 = ( 0 T
0 q& 4 ) ; (68)
+(1− ∆2 ) { 2 ⋅ ω2 × q&2 ⋅ 0k2 + q&&2 ⋅ 0k2 = ( q&&1 q&&2 0)
0 T
} 4

 cos q4 ⋅ q&1 + sin q4 ⋅ q&2 

The third driving joint of 3TR robot, is 4 0  T 0 
v 4 = [R ] ⋅ v 4 =  cos q4 ⋅ q&2 − sin q4 ⋅ q&1  .(69)
4
characterized by:  q&3 
0 T  
ω3 = 0ω2 + ∆ 3 ⋅ q&3 ⋅ 0k3 = ( 0 0 0 ) ; (48) 4& 0 T
ω 4 = 4 [R ] ⋅ 0ω& 4 = ( 0 0 q&&4 ) ; (70)
 q&1 
   cos q4 ⋅ q&&1 + sin q4 ⋅ q&&2 
0
v3 = ( 0
v 2 + ω2 × p32 0
) 0
+ (1 − ∆3 ) ⋅ q&3 ⋅ k3 =  q&2  ;(49) 4& 4  0& 
v 4 = [ R ]⋅ v 4 =  cos q4 ⋅ q&&2 − sin q4 ⋅ q&&1  (71)
 q&  0
 3  
 q&&3 
0&
ω3 { 0
= 0ω&2 + ∆3 ⋅ 0ω2 × q&3 ⋅ 3 [R] ⋅ 3k3 + q&&3 ⋅ 0k3 = [0] ;(50) } (3×1)
Taking into account the relations (38) and (39),
there are obtained:
0&
v3 (
= 0v&2 + 0ω&2 × p32 + 0ω2 × 0ω2 × p32 + ) &  v4 
0 ( q&
1 q&2 q&3 ) 
T
(51) X = 0  = 
0 ; (72)
{
+ (1− ∆3 ) ⋅ 2 ⋅ 0ω3 × q&3 ⋅ 0k3 + 0k3 ⋅ q&&3 = ( q&&1 q&&2 q&&3 )
T
}  ω4   ( 0
 0 q& 4 ) 
T

The forth joint is characterized by the following  v4 

0 & ( q&& q&&2 q&&3 ) 
T
0 && 1
kinematical parameters: X =  0  ==   (73)
 ω& 4   (0 0 q&&4 ) 
T
0 0 T
ω4 = 0ω3 + ∆ 3 ⋅ 3 [R ] ⋅ 3k3 ⋅ q& 3 ( 0 0 q& 4 ) ;(52) 
- 214 -

The expressions previously determined are remark is that the rigidity hypothesis between
representing the Direct Kinematics Equations the components elements is maintained, but the
(DKM) that characterizing the absolute motion static hypothesis is removed, the column
of the final effector and which will be used as vectors of the generalized and operational
input data in the dynamic modeling. coordinates becoming time functions in
Taking into account the same expressions kinematical modeling of mechanical structure.
(38) and (39), there can be expressed the As can be seen from the considerations, for
operational speeds and accelerations, compared determining the kinematic command functions
to the own system as: for the proposed mechanical structure, they
 cos q4 ⋅ q&1 + sin q4 ⋅ q&2   assume the application of some mathematical
 cos q ⋅ q& − sin q ⋅ q&   methods
 4 2 4 1 
4 &
 v 4  
4
q&3


X = 4  = (74)
 ω4   0  5. REFERENCES
 0 
  q&  
  4  [1] Negrean, I., Mecanică Avansată în Robotică,
 cos q4 ⋅ q&&1 + sin q4 ⋅ q&&2   Ed. UT PRESS, ISBN 978-973-662-420-9.
 cos q ⋅ q&& − sin q ⋅ q&&   Cluj-Napoca, 2008.
 4 2 4 1 
4 &&
 v 4  
4 & q&&3

  [2] Negrean, I., Negrean, D. C., The Locating
X = 4  = (75)
 ω& 4   0  Matrix Algorithm in Robot Kinematics,
 0  Cluj-Napoca, October 2001, Acta
  q&  
  4  Technica Napocensis, Series: Applied
Mathematics and Mechanics, 2001.
4. CONCLUSIONS [3] Negrean, I, Vuşcan, I, Haiduc, N, Robotică.
Modelarea cinematică şi dinamică, Editura
Didactică şi Pedagogică, R.A., Bucureşi, 1997.
In the paper, has been considered a serial
[4] Negrean, I., Schonstein, C., s.a., Mechanics ―
structure of 3TR type, which can be Theory and Applications, Editura UT Press, .
implemented in a industrial process of handling ISBN 978-606-737-061-4, 2015.
process of parts. For the robot, by the Locating [5] Megahed, S., Principles of Robot Modelling
Matrix Algorithm, used in geometrical and Simulation, John Willy & Sons,
Modeling, where determined the equations (1993).
which are expressing the position and [6] Schilling, J.R., Fundamentals of Robotics
orientation of the end effector with respect to Analysis and Control, Pretince Hall Inc.,
the fixed reference system. An important (1990).

Functiile de control geometric si cinematic pentru un robot cu structură carteziană

Rezumat: Având la bază ideea de a aduce mai multă flexibilitate și productivitate unui proces tehnologic, lucrarea este
dedicată prezentării ecuațiilor geometriei și cinematicii pentru o structură de robot cartezian. Algoritmii utilizați în
modelarea matematică a structurilor de roboti sunt utilizați pentru stabilirea, pe de o parte, a transformărilor omogene în
modelarea geometriei directe și pe de altă parte, pentru determinarea ecuațiilor cinematice. Modelarea cinematică a
unui sistem mecanic cu „n” grade de libertate implică un volum impresionant de calcule. Există algoritmi dedicați
acestui deziderat care pot fi regăsiti in literatura de specialitate. Vor fi stabilite în formă analitică, ecuațiile pentru
modelul geometric și cinematic folosind algoritmi specifici pentru realizarea controlului cinematic și anume, stabilirea
vitezei / accelerației lineare și unghiulare a fiecărei cuple a robotului și a punctului caracteristic.

Claudiu SCHONSTEIN, Lecturer, Ph.D. Eng, Technical University of Cluj-Napoca, Department of Mechanical
Systems Engineering, schonstein_claudiu@yahoo.com, No.103-105, Muncii Blvd., Office C103A, 400641, Cluj-
Napoca.
Mihai STEOPAN, Lecturer, Ph.D. Eng, Technical University of Cluj-Napoca, Department of Industrial Design and
Robotics, mihai.steopan@muri.utcluj.ro, 103-105 No., Muncii Blvd., Cluj-Napoca.
Răzvan CURTA, Lecturer, Ph.D. Eng, Technical University of Cluj-Napoca, Department of Industrial Design and
Robotics, razvan.curta@muri.utcluj.ro, 103-105 No., Muncii Blvd., Cluj-Napoca.
Florin URSA, Master student, Technical University of Cluj-Napoca, Department of Industrial Design and Robotics.

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