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What is modellingfor?
Robot manipulator modelling is performed for the following purposes:
- DESIGN - determine stiffness and strength of materials,
- select driving systems,
- select end-effector (gripper, assembly, technological or inspection tool),
- characterise joint motions, workspace, velocities and accelerations,
- formulate manufacturing technology,
- estimate cost
- SIMULATION - when the use of real robot is: impossible, costly, dangerous, technically complex, determine the robot manipulator behaviour by numerical calculations.
KADOMS KRIM.W1MIR, AGH Kraków
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