Journal article
Determining the initial configuration of uninterrupted redundant manipulator trajectories in a manufacturing environment
Robotics and computer-integrated manufacturing, Vol.27(1), pp.22-32
2011
DOI: 10.1016/j.rcim.2010.05.009
Abstract
In a manufacturing environment where a redundant manipulator is programmed to follow a specific trajectory such as welding, painting, and soldering, it is often the case that the manipulator reaches a singular configuration where the program is stopped, the manipulator has to be switched to a new configuration, and the motion continued. This paper presents a method of determining the initial configuration of robotic manipulators to traverse a path trajectory without halting the motion. The method consists of: (1) identifying singular curves/surfaces using the Jacobian rank deficiency method; (2) determining non-crossable curves/surfaces using acceleration-based crossability criteria; (3) finding if the path intersects any non-crossable singular curve/surface. If there is not any intersection, the manipulator does not interrupt with any initial configuration on the trajectory. Otherwise, the intersection is determined, and the non-crossable singular configuration at the intersection point is determined; (4) solving the differential algebraic system of equations (DAE) of index 2 using the Runge–Kutta method; and (5) solving the optimization problem. The method is illustrated through examples.
Details
- Title: Subtitle
- Determining the initial configuration of uninterrupted redundant manipulator trajectories in a manufacturing environment
- Creators
- Zan Mi - Machine Research, Caterpillar Inc., Peoria, IL 61629, USAJingzhou (James) Yang - Department of Mechanical Engineering, Texas Tech University, Lubbock, TX 79409, USAJoo H Kim - Polytechnic Institute of New York University Brooklyn, NY 11201, USAKarim Abdel-Malek - Center for Computer-Aided Design, The University of Iowa, Iowa City, IA 52242-1000, USA
- Resource Type
- Journal article
- Publication Details
- Robotics and computer-integrated manufacturing, Vol.27(1), pp.22-32
- Publisher
- Elsevier Ltd
- DOI
- 10.1016/j.rcim.2010.05.009
- ISSN
- 0736-5845
- eISSN
- 1879-2537
- Language
- English
- Date published
- 2011
- Academic Unit
- Roy J. Carver Department of Biomedical Engineering; Mechanical Engineering
- Record Identifier
- 9984064218702771
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