A Linkage Based Solution Approach for Determining 6 Axis Serial Robotic Travel Path Feasibility 2016-01-0336
When performing trajectory planning for robotic applications, there are many aspects to consider, such as the reach conditions, joint and end-effector velocities, accelerations and jerk conditions, etc. The reach conditions are dependent on the end-effector orientations and the robot kinematic structure. The reach condition feasibility is the first consideration to be addressed prior to optimizing a solution. The ‘functional’ work space or work window represents a region of feasible reach conditions, and is a sub-set of the work envelope. It is not intuitive to define. Consequently, 2D solution approaches are proposed. The 3D travel paths are decomposed to a 2D representation via radial projections. Forward kinematic representations are employed to define a 2D boundary curve for each desired end effector orientation. The feasible region for all orientations is determined by the use of Boolean intersections of the boundary curves or by overlapping valid regions in which points are placed. Combining the tool path and functional work space regions allow designers to readily visualize regions of concern. A KUKA and Comau robot are used to illustrate the methodology.
Citation: Urbanic, R., Hedrick, R., and Djuric, A., "A Linkage Based Solution Approach for Determining 6 Axis Serial Robotic Travel Path Feasibility," SAE Int. J. Mater. Manf. 9(2):444-456, 2016, https://doi.org/10.4271/2016-01-0336. Download Citation
Author(s):
R.J. Urbanic, R. Hedrick, Ana M. Djuric
Affiliated:
University of Windsor, CAMufacturing Solutions Inc., Wayne State University
Pages: 13
Event:
SAE 2016 World Congress and Exhibition
ISSN:
1946-3979
e-ISSN:
1946-3987
Also in:
SAE International Journal of Materials and Manufacturing-V125-5, SAE International Journal of Materials and Manufacturing-V125-5EJ
Related Topics:
Trajectory control
Robotics
Kinematics
Windows and windshields
Optimization
Vehicle acceleration
Tools and equipment
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