Secure your environment with UiPath and CyberArk technologies - Session 1
An overview of the various kinematic models in both parallel and serial robotic mechanisms -Robotic Symposium Presentation
1. 1
An overview of the various
kinematic models in both
parallel & serial robotic mechanisms
and which are best suited
for precision applications
Ilian Bonev, Ph.D.
Professor, École de technologie supérieure
Montreal, QC, Canada
3. û founded 41 years ago
û 10,600 students: 8,000 in B.Eng. (already technicians) and 2,600 graduate
û Each year, 25% of new engineers in Quebec are graduates of the ÉTS
û third largest engineering school in Canada
û 180 professors and lecturers, 417 other personnel
û $35 million for research (75% from industrial collaborations)
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École de technologie supérieure
4. û professor at ÉTS since 2004
û expert on parallel robots
û Canada Research Chair in Precision Robotics
û head of the Control and Robotics Lab (CoRo)
û cofounder of Mecademic
Ilian Bonev
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25. Calibration procedure
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1. A new mathematical model of the robot is developed.
2. (Partial) pose measurements of the end-effector are taken.
3. The parameters of the new model are identified thru optimization.
4. A “fake target” is computed for each end-effector pose.