ASSISTED RESEARCH OF THE INDUSTRIAL ROBOTS KINEMATICS WITH LABVIEW INSTRUMENTATION

The paper presents one assisted method of the cinematic behaviour of the industrial robots. It is shown the general mathematical model for direct and inverse cinematic behaviour for the arm type robot. The paper contents the iterative matrix equations for the position, velocity and acceleration analyse. The assisted research is realised by using the virtual proper LabVIEW instruments (VI) according with the mathematical general model and working on-line. With these facilities is very easy to see what is the more important functional or constructive parameters in the cinematic behaviour and what was happened when is changed someone of it. In the paper with the matrix method are presented some cinematic characteristics when was changed the joints velocity characteristics or the different constructive parameters. Also was analysed the cinematic errors obtained with the simple command with the trapezoidal characteristics of the electrical tension of command with three constant steps. The presented method is generally; it is possible to apply in many other mechanical structures. The LabVIEW VI-s offer very important information what will be necessary in a dynamic behaviour analyse