Method for workspace calculation of 6R serial manipulator based on surface enveloping and overlaying

Wang, Xuanyin; Ding, Yongsheng

doi:10.1007/s12204-010-1048-5

Cited by 6 publications

(3 citation statements)

References 11 publications

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“…This is an important parameter for designing, controlling, and applying a robot. Wang and Ding [26] proposed a surface enveloping overlay (SEO) algorithm for identifying the workspace of multi-joint serial robots. The algorithm was suitable for analyzing the characteristics of holes in a robot's workspace.…”

Section: Introductionmentioning

confidence: 99%

On the Relative Kinematics and Control of Dual-Arm Cutting Robots for a Coal Mine

Liu,

Zhou,

Qiao

et al. 2024

Actuators

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There is an unbalanced problem in the traditional laneway excavation process for coal mining because the laneway excavation and support are at the same position in space but they are separated in time, consequently leading to problems of low efficiency in laneway excavation. To overcome these problems, an advanced dual-arm tunneling robotic system for a coal mine is developed that can achieve the synchronous operation of excavation and the permanent support of laneways to efficiently complete excavation tasks for large-sized cross-section laneways. A dual-arm cutting robot (DACR) has an important influence on the forming quality and excavation efficiency of large-sized cross-section laneways. As a result, the relative kinematics, workspace, and control of dual-arm cutting robots are investigated in this research. First, a relative kinematic model of the DACR is established, and a closed-loop control strategy for the robot is proposed based on the relative kinematics. Second, an associated workspace (AW) for the DACR is presented and generated, which can provide a reference for the cutting trajectory planning of a DACR. Finally, the relative kinematics, closed-loop kinematic controller, and associated workspace generation algorithm are verified through simulation results.

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Section: Introductionmentioning

confidence: 99%

On the Relative Kinematics and Control of Dual-Arm Cutting Robots for a Coal Mine

Liu,

Zhou,

Qiao

et al. 2024

Actuators

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“…Wang et al used the surface envelope overlay (SEO) method to identify and visualize the robot workspace [16]. Graphic methods are another way to find workspace boundaries [18]. Gan et al took advantage of the arm length of a robot and the angle ranges of its joints to obtain section screenshots of the robot's workspace on the xz plane via the geometric drawing method [19].…”

Section: Introductionmentioning

confidence: 99%

A Workspace Visualization Method for a Multijoint Industrial Robot Based on the 3D-Printing Layering Concept

Tao

et al. 2020

Applied Sciences

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The workspace of a robot provides the necessary constraint information for path planning and reliable control of the robot. In this paper, a workspace visualization method for a multijoint industrial robot is proposed to obtain a detailed workspace by introducing the 3D-printing layering concept. Firstly, all possible joint-angle groups of one pose in the joints’ ranges are calculated in detail according to the POE (product of exponential) theory-based forward-kinematics expressions of the multijoint industrial robot. Secondly, a multisolution selection method based on the key degree of the joint is proposed to select the appropriate joint-angle groups. The key degrees of all joints and their key order are obtained according to the sensitivity expressions of all joint angles, calculated from the Jacobian matrix of the robot. One principle based on the smallest differences of the nominal angle is established to select the possible solutions for one joint from the possible solutions for the joint with the smaller key order. The possible solutions for the joint with the highest key order are the appropriate joint-angle group. Thirdly, a workspace visualization method based on the layering concept of 3D printing is presented to obtain a detailed workspace for a multijoint industrial robot. The boundary formula of each layer is derived by forward kinematics, which is expressed as a circle or a ring. The maximum and minimum values of the radius are obtained according to the travel range of the joint angles. The height limitations of all layers are obtained with forward kinematics. A workspace boundary-extraction method is presented to obtain the array of path points of the boundary at each layer. The proposed postprocessing method is used to generate the joint-angle code of each layer for direct 3D printing. Finally, the effectiveness of the multisolution selection method and the workspace visualization method were verified by simulation and experiment.

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“…The graphic method is to place the end of the actuator in extreme position, and then change the wrist joints to draw the workspace boundary by the trajectory of the end [4]. Graphic method is more intuitive than analytical method, but it is also limited by the number of joints, when the joint number is more than three it must be treated in group.…”

Section: Introductionmentioning

confidence: 99%

Study on the Measuring Space of Flexible Arm Coordinate Measuring Machines

Gao

Wen

2012

KEM

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The measuring space is the set of positions a flexible arm coordinate measuring machine (FACMM) can reach, and it is an important measure for the evaluation of a FACMM. To study the measuring space of FACMMs the kinematic model was established. Furthermore, a new method based on Monte Carlo method to calculate the measuring space of FACMMs was proposed. The method generates the data of joint angles with Monte Carlo method, which is used to calculate the coordinates of the FACMM’s probe through the kinematic model. These coordinates make up the measuring space. The results of the analysis on the measuring space show that the measuring space of FACMMs is not a sphere usually considered as but an ellipsoid, and there is lack of flexibility near the border of the measuring space.

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Method for workspace calculation of 6R serial manipulator based on surface enveloping and overlaying

Cited by 6 publications

References 11 publications

On the Relative Kinematics and Control of Dual-Arm Cutting Robots for a Coal Mine

On the Relative Kinematics and Control of Dual-Arm Cutting Robots for a Coal Mine

A Workspace Visualization Method for a Multijoint Industrial Robot Based on the 3D-Printing Layering Concept

Study on the Measuring Space of Flexible Arm Coordinate Measuring Machines

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