Structure of robots

The robots are based on synchronized control of many movements in space. In order to define the position of the object in the space, 6 (six) movements are needed, of which three are for positioning and the rest are for orientation. There can be robots with more freedom degrees (redundant), a solution that is dictated by solving the proper technological tasks.

There are 4 generic solutions in the kinematics of robots, in the part of three degrees for positioning: robots with 3 (three) straightforward movements (Cartesian structure); robots with 2 (two) straightforward and 1 (one) rotary movement; with two rotational and one straightforward movement; and with 3 (three) rotary movements. Rotary movements around the axes are always used for orientation of objects.

Comprehensive researches regarding the convenience of particular kinematics solution of robot structure can be conducted. It has been done at the same beginning and a Cartesian structure has been chosen.

If the robotic areas have to be structured and defined, knowing that they will present a groundwork for further scientific projects, then that would be:

- algorithms for description of the position and orientation of robotic structures;

- direct and reverse kinematics of manipulators;

- speeds and static forces at manipulators;

- dynamics of robots manipulators;

- generation of manipulators movement trajectory;

- manipulators controlling;

- a sensor system at robots and robotized systems;

- accuracy and stiffness of robots;

- artificial intelligence in robotic systems;

- development of robot program systems with various, different level of intelligence.

These are the general thematic research fields that are preoccupation of the research sector for robotics at the Institute.

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