Journal article
Path trajectory verification for robot manipulators in a manufacturing environment
Proceedings of the Institution of Mechanical Engineers. Part B, Journal of engineering manufacture, Vol.211(7), pp.547-556
1997
DOI: 10.1243/0954405971516491
Abstract
In a manufacturing environment where a robotic arm is programmed to follow a specified trajectory such as in welding, painting and soldering, it is often the case that the arm reaches a singular configu- ration, where the programme is stopped, the arm is switched to a new configuration and the motion is continued. This difficulty has been a long-standing problem. This paper presents a mathematical formulation for verifying whether a trajectory can be completed, uninterrupted, avoiding halting of a planned path. In some cases, this formulation also allows the selection of an initial configuration to ensure a smooth path trajectory. The paper presents an analytical formulation for determining barriers to motion inside the workspace of manipulator arms. Crossability analysis of the end-effector on a barrier is addressed. A criterion for selecting an initial configuration that would result in an uninterrupted motion is introduced. The mathematical theory is validated through numerical examples of planar and spatial manipulator arms.
Details
- Title: Subtitle
- Path trajectory verification for robot manipulators in a manufacturing environment
- Creators
- K ABDEL-MALEK - Department of Mechanical Engineering and Center for Computer-Aided Design, The University of Iowa, Iowa City, Iowa, United StatesH. J YEH - Department of Mechanical Engineering and Center for Computer-Aided Design, The University of Iowa, Iowa City, Iowa, United States
- Resource Type
- Journal article
- Publication Details
- Proceedings of the Institution of Mechanical Engineers. Part B, Journal of engineering manufacture, Vol.211(7), pp.547-556
- Publisher
- Mechanical Engineering Publications; London
- DOI
- 10.1243/0954405971516491
- ISSN
- 0954-4054
- eISSN
- 2041-2975
- Language
- English
- Date published
- 1997
- Academic Unit
- Roy J. Carver Department of Biomedical Engineering; Mechanical Engineering
- Record Identifier
- 9984064226002771
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