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Memorial University - Electronic Theses and Dissertations 4
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Document Description
TitleAn innovative method for improvement of robotic simulation cycle time accuracy
AuthorApostolovic, Nenad, 1971-
DescriptionThesis (M.Eng.)--Memorial University of Newfoundland, 2003. Engineering and Applied Science
Paginationxiv, 142, 13 leaves : ill. + 1 CD-ROM (4 3/4 in.)
SubjectRobotics--Computer simulation; Robots--Motion;
Degree GrantorMemorial University of Newfoundland. Faculty of Engineering and Applied Science
DisciplineEngineering and Applied Science
NotesBibliography: leaves 138-142.
AbstractRobotic simulations can be classified into two groups - ones provided by the robot manufacturers and the "generic" ones provided by the simulation software companies. Both types have advantages and disadvantages with respect to cost, accuracy, functionality and integration with other virtual manufacturing tools. -- Improvement of motion accuracy is one area of significant development of "generic" robotic simulations. Upon completion of the RRS I ("Realistic Robotic Simulation") project, it finally became possible to use original motion and kinematics algorithms, which minimized differences between the simulated motion and real motion. However, RRS I Specification has several serious drawbacks. Not many robot manufacturers provide modules, functionality is limited and the price is high. -- Presented material proposes a new method for improvement of simulation motion time accuracy. The method is based on the assumption about the existence of factors, whose influence on motion time of the real robot can be identified and incorporated through correction factors into the simulation motion model.
Resource TypeElectronic thesis or dissertation
FormatImage/jpeg; Application/pdf
SourcePaper copy kept in the Centre for Newfoundland Studies, Memorial University Libraries
Accompanying Files
Local Identifiera1614888
RightsThe author retains copyright ownership and moral rights in this thesis. Neither the thesis nor substantial extracts from it may be printed or otherwise reproduced without the author's permission.
CollectionElectronic Theses and Dissertations
Scanning StatusCompleted
PDF File(12.80 MB) --
CONTENTdm file name16034.cpd