Closed-form inverse kinematics of 6R milling robot with singularity avoidance

Xiao, Wenlei; Strauß, Henning; Loohß, Torsten; Hoffmeister, Hans‐Werner; Hesselbach, Jürgen

doi:10.1007/s11740-010-0283-9

Cited by 19 publications

(16 citation statements)

References 8 publications

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“…The disadvantage of using robots for machining is their low stiffness and accuracy [21], whereas the cutting force of the ultrasonic cutting process for Nomex honeycomb is small enough [22] to meet the accuracy of robot. At present, the studies of robotic machining path planning focus more on robotic kinematic optimization on machining efficiency [23] and accuracy [24], [25], and the tool path is usually generated by general CAM system [24], [26], [27]. However, V-shaped cutting requires special path planning method as mentioned above, and there are few or no reports on the V-shaped path planning for robots at present.…”

Section: Figure 1 Comparison Of Chip Formation Between Milling [7] Amentioning

confidence: 99%

A Path Planning Method for V-Shaped Robotic Cutting of Nomex Honeycomb by Straight Blade Tool

et al. 2020

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V-shaped cutting by straight blade tool has been proposed as a typical process to quickly remove large volumes of Nomex honeycomb. To meet the process requirements of V-shaped cutting by robots, a major problem is that the six degrees of freedom of the straight blade tool must be precisely programmed. In this paper, a path planning method for the V-shaped robotic cutting process is presented. The determining method of path parameters for cylindrical parts is firstly analyzed, with an optimization model proposed. The position of path points is pre-generated by robotic machining module of CAM software, and machining files in the robot language are output. Considering the requirement of V-shaped cutting path, a special post-processing program is developed to translate the CAM software generated machining files into final files for V-shaped cutting, which converts the reciprocating milling path into the V-shaped processing path and adds the orientation data of the path points. Furthermore, the robot machining files generated by the post-processing program are verified in MATLAB. V-shaped cutting experiments on Nomex honeycomb were carried out using 6-axis robot and ultrasonic cutting system to verify the presented method. Results show that the cylindrical surface of the machined workpiece is consistent with the expectation. INDEX TERMS path planning, V-shaped cutting, Nomex honeycomb, robot processing, straight knife.

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Section: Figure 1 Comparison Of Chip Formation Between Milling [7] Amentioning

confidence: 99%

A Path Planning Method for V-Shaped Robotic Cutting of Nomex Honeycomb by Straight Blade Tool

et al. 2020

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“…When other matrices are computed, the transformation matrix from end-effector coordinate to base coordinate is obtained [13,14]. The solution to the forward kinematics is as follows…”

Section: Forward Kinematics and Homogeneous Transformationmentioning

confidence: 99%

“…The issue of robot inverse kinematics is to calculate all the corresponding joint angles when the pose and location of robot are given [13]. In other words, the joint variables h i (i = 1, 2, _, 6) can be determined based on kinematics equation if the values of n, o, a, p and the needed geometric parameters are known [14].…”

Section: Inverse Kinematicsmentioning

confidence: 99%

Kinematic analysis and simulation of a new-type robot with special structure

Guo

et al. 2014

Adv. Manuf.

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Common methods, such as Denavit-Hartenberg (D-H) method, cannot be simply used in kinematic analysis of special robots with hybrid hinge as it is difficult to obtain the main parameters of this method. Hence, a homogeneous transformation theory is presented to solve this problem. Firstly, the kinematics characteristic of this special structure is analyzed on the basis of the closed-chain theory. In such a theory, closed chains can be transformed to open chains, which makes it easier to analyze this structure. Thus, it will become much easier to establish kinematics equations and get the solutions. Then, the robot model can be built in the Simmechanics (a tool box of MATLAB) with these equation solutions. It is necessary to design a graphical user interface (GUI) for robot simulation. After that, the model robot and real robot will respectively move to some spatial points under the same circumstances. At last, all data of kinematic analysis will be verified based on comparison between data got from simulation and real robot.

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“…Recent research on robot machining has focused more on the influence of robotic dynamics on machining accuracy and efficiency [46,47,52,53]. Olabi et al have proposed to optimize the tool-tip feedrate in Cartesian space for a given tool path using a smooth jerk limited pattern with consideration of the joints kinematics constraints [52].…”

Section: Robot Machining Path Planningmentioning

confidence: 99%

“…Olabi et al have proposed to optimize the tool-tip feedrate in Cartesian space for a given tool path using a smooth jerk limited pattern with consideration of the joints kinematics constraints [52]. That is, the dynamic characteristics of the robot are considered in determining one of the key machining parameters "feedrate".…”

Section: Robot Machining Path Planningmentioning

confidence: 99%

Robot machining: recent development and future research issues

Chen

Dong

2012

Int J Adv Manuf Technol

235

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Early studies on robot machining were reported in the 1990s. Even though there are continuous worldwide researches on robot machining ever since, the potential of robot applications in machining has yet to be realized. In this paper, the authors will first look into recent development of robot machining. Such development can be roughly categorized into researches on robot machining system development, robot machining path planning, vibration/chatter analysis including path tracking and compensation, dynamic, or stiffness modeling. These researches will obviously improve the accuracy and efficiency of robot machining and provide useful references for developing robot machining systems for tasks once thought to only be capable by CNC machines. In order to advance the technology of robot machining to the next level so that more practical and competitive systems could be developed, the authors suggest that future researches on robot machining should also focus on robot machining efficiency analysis, stiffness mapbased path planning, robotic arm link optimization, planning, and scheduling for a line of machining robots.

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Closed-form inverse kinematics of 6R milling robot with singularity avoidance

Cited by 19 publications

References 8 publications

A Path Planning Method for V-Shaped Robotic Cutting of Nomex Honeycomb by Straight Blade Tool

A Path Planning Method for V-Shaped Robotic Cutting of Nomex Honeycomb by Straight Blade Tool

Kinematic analysis and simulation of a new-type robot with special structure

Robot machining: recent development and future research issues

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