This document describes the basics of the automated teaching technology applied to Genmark robots series. It emphasizes on the mathematical modeling of the teaching process and the associated equipment. Considerations about the distribution of computational tasks between the robot firmware and the host software are provided.
Automated Teaching of Genmark Robots
PDF Format: 236 KB
March 21, 2011
The goal of this document is to evaluate the loading (static and dynamic) to the supporting bearing of the end-effector (EE) of AVR 3000 in compliance with Oxford Industries specific requirements.
Dynamics of Typical Moves of AVR 3000
PDF Format: 301 KB
April 14, 2011
The goal of this document is to analyze the maximum forces applied by/to the GB9 robot in case of interfering with obstacles in impact or quasi-static mode. The evaluation is performed by taking into consideration the operational conditions of a specific application such as geometrical constraints, maximum velocities and accelerations, loading, etc.
Force Analysis of GB9 Vacuum Robot
PDF Format: 139 KB
April 25, 2011
The document provides technical data and basic kinematic transformations for AVR 3000. Direct and inverse kinematic problems are solved at position, velocity and acceleration level between three spaces: motor, joint and tool.
Kinematics of AVR 3000
PDF Format: 345 KB
January 26, 2011
This article addresses an approach to continuous path planning in the task/tool space in the presence of singularities. In particular it applies to Genmark's Y-axis robots from the GB7Y and GB8Y family. In order to guarantee good enough performance of these robots, the controlled path should be singularity free, i.e. the "distance" to singularity should be big enough to comply with the limitations imposed on the motor velocities.
Singularity Consistent Path Planning for Genmark Robots
PDF Format: 297 KB
