Basic mathematics to robotic for tracking systems used by autonomous solar collectors

Basic mathematics to robotic for tracking systems used by autonomous solar collectors
Author(s):
Thierry S. Maurice Ky, Boureima DIANDA, Mahamadi SAVADOGO, Dieudonne Joseph BATHIEBO
Keywords:
robot, solar tracker, homogeneous matrix, velocity tensor, azimuth, altitude.
Abstract
In this paper, we look through the basic mathematics to robotic applied for industrial robots. We then explain the different types of rotation combinations in robotic, the 4x4 matric homogeneous representation, rigid-motion matrix and velocity tensor. We then consider to propose applications to solar trackers used for common concentrators such as paraboloid, parabolic trough, hemispheric receiver, CPC etc. We finally propose their 4x4 matric homogeneous transformation and their rotation vectors according to the type of configuration of the tracker
Article Details
Unique Paper ID: 146213 Publication Volume & Issue: Volume 4, Issue 11 Page(s): 2054 - 2059
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