Kinematics analysis and self - collision detection of Truss type multi-robot cooperative welding platform

Hou, Ziting; Ma, Shenglin; Zeng, Qingfei; Li, Aiping

doi:10.1016/j.procir.2019.03.124

Cited by 10 publications

(3 citation statements)

References 9 publications

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“…So, we can transfer from i frame to i+1 frame Final matrix will be the result of multiple of those matrixes [3]…”

Section: A Forward Kinematicsmentioning

confidence: 99%

Computing The Kinematics Study of a 6 DOF Industrial Manipulator Prototype By Matlab

Saadah¹

2024

RIiM

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Since the mechanical parts in the robot are designed to do the movement, studying and analyzing the motion considered a primary issue that should be taken into consider when studying and designing the robot. In this research 6-DOF sample of the industrial manipulator based on ABB IRB 4400 model had been studied. The mathematical model of manipulator is established by DH (Denavait Hartenberg) method. The forward kinematics was done using DH Parameters in order to get the final transformation matrix. The inverse kinematics was done using geometrical and analytical methods in order to get the end effector final position and direction by calculate Euler angles values. Finally, the forward and inverse kinematics equations were computing by MATLAB to get angles, end effector, position, direction and Euler angles values. The kinematics study and the arm movement’s equations were compered with the practical measurements to make sure it fulfills the desired purpose.

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“…So, we can transfer from i frame to i+1 frame Final matrix will be the result of multiple of those matrixes [3]…”

Section: A Forward Kinematicsmentioning

confidence: 99%

Computing The Kinematics Study of a 6 DOF Industrial Manipulator Prototype By Matlab

Saadah¹

2024

RIiM

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“…Vadim Kramar, Self-Collision Avoidance Control of Dual-Arm Multi-Link Robot Using Neural Network Approach and the search of the coordinates and their combinations at which these critical positions arise [7][8][9][10][11][12][13][14][15][16][17][18][19][20][21][22][23][24]. In [7], the authors presented a solution of the problem of two manipulators motion control using a constraint-based programming approach, which was used to generate online motion plans.…”

Section: Introductionmentioning

confidence: 99%

Self-Collision Avoidance Control of Dual-Arm Multi-Link Robot Using Neural Network Approach

Kramar

Kabanov

2022

Journal of Robotics and Control

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The problem of mutual collisions of manipulators of a dual-arm multi-link robot (so-called self-collisions) arises during the performance of a cooperative technological operation. Self-collisions can lead to non-fulfillment of the technological operation or even to the failure of the manipulators. In this regard, it is necessary to develop a method for online detection and avoidance of self-collisions of manipulators. The article presents a method for detecting and avoiding self-collisions of multi-link manipulators using an artificial neural network by the example of the dual-arm robot SAR-401. A comparative analysis is carried out and the architecture of an artificial neural network for self-collisions avoidance control of dual-arm robot manipulators is proposed. The novelty of the proposed approach lies in the fact that it is an alternative to the generally accepted methods of detecting self-collisions based on the numerical solution of inverse kinematics problems for manipulators in the form of nonlinear optimization problems. Experimental results performed based on MATLAB model, the simulator of the robot SAR-401 and on the real robot itself confirmed the applicability and effectiveness of the proposed approach. It is shown that the detection of possible self-collisions using the proposed method based on an artificial neural network is performed approximately 10 times faster than approaches based on the numerical solution of the inverse kinematics problem while maintaining the specified accuracy.

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“…However, the operation of a single robot's work does not meet the processing requirements of the workpieces. Therefore, the robot system gradually moves from a single robot to robot flexible processing unit [5][6][7][8] or workstation [9][10][11][12] direction development. For example, the intersecting line welding is a complex space curve, and the welding seam always needs to be placed in the ship-shaped welding seam pose in order to ensure the welding quality of the intersecting line.…”

Section: Introductionmentioning

confidence: 99%

The Path Planning of Synchronous Cooperative Motion Control between Robot and Positioner for Complex Space Curve Processing

Lin

Wang

et al. 2020

Electronics

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In this paper, we propose a synchronous cooperative path planning (SCPP) algorithm for the robot and the positioner to process complex space curve workpieces. The specific algorithm design is illustrated by using the intersecting line welding as an example. The robot and positioner are regarded as an 8-degree-of-freedom (DOF) system to plan the whole synchronous cooperative motion path, and the constraint for the Y-axis of the welding torch coordination system is added for solving the intersecting line orientation information. SCPP is used to process the intersecting line. The changes of welding torch orientation and robot joint rotation angles during welding of the intersecting line by using the improved method and compared to the traditional method. The experimental results show that 8-DOF keeps synchronous cooperative in the whole movement. There is no interference happening during the entire cooperative movement and the welding torch’s orientation remains basically unchanged during the welding intersecting line.

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Kinematics analysis and self - collision detection of Truss type multi-robot cooperative welding platform

Cited by 10 publications

References 9 publications

Computing The Kinematics Study of a 6 DOF Industrial Manipulator Prototype By Matlab

Computing The Kinematics Study of a 6 DOF Industrial Manipulator Prototype By Matlab

Self-Collision Avoidance Control of Dual-Arm Multi-Link Robot Using Neural Network Approach

The Path Planning of Synchronous Cooperative Motion Control between Robot and Positioner for Complex Space Curve Processing

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