On-line trajectory resolution for two-armed systems with conflicting performance criteria

Owen, William J.; Croft, Elizabeth A.; Benhabib, B.

doi:10.1016/j.mechmachtheory.2008.06.001

Cited by 6 publications

(2 citation statements)

References 47 publications

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“…Then, by considering minimising the compliance factor of the manipulators based on a certain tool path based on workpiece, higher stiffness configurations could be obtained by their developed trajectory optimisation method, resulting a reduction of machining torque and deflection of tool [100,101]. Then, the conflicting performance criteria were added the model [102]. Fig.…”

Section: Trajectory Optimisationmentioning

confidence: 99%

Industrial robotic machining: a review

Wang

2019

Int J Adv Manuf Technol

264

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For the past three decades, robotic machining has attracted a large amount of research interest owning to the benefit of cost efficiency, high flexibility and multi-functionality of industrial robot. Covering articles published on the subjects of robotic machining in the past 30 years or so; this paper aims to provide an up-to-date review of robotic machining research works, a critical analysis of publications that publish the research works, and an understanding of the future directions in the field. The research works are organised into two operation categories, low material removal rate (MRR) and high MRR, according their machining properties, and the research topics are reviewed and highlighted separately. Then, a set of statistical analysis is carried out in terms of published years and countries. Towards an applicable robotic machining, the future trends and key research points are identified at the end of this paper.

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Section: Trajectory Optimisationmentioning

confidence: 99%

Industrial robotic machining: a review

Wang

2019

Int J Adv Manuf Technol

264

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“…In order to apply the proposed strategy to such a scenario, a similar procedure to the one presented in this paper can be followed. Constraints between the two arms can be classified according to the proposed classification, and once the Jacobian of the arms relative coordinates is computed (see, e.g., [40] and [41]), evasive velocities can be projected in the null space of the active constraints, as done in the single arm case.…”

Section: Discussionmentioning

confidence: 99%

Reactive Task Adaptation Based on Hierarchical Constraints Classification for Safe Industrial Robots

Ceriani¹,

Zanchettin

Rocco

et al. 2015

IEEE/ASME Trans. Mechatron.

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I. INTRODUCTIONH UMAN-ROBOT interaction and collaboration are some of the most promising opportunities for the development of industrial robots applications in the future. Such operational paradigms could allow robots to complement human work in scenarios where repetitive actions are combined with skilful dexterity-based operations. This is the case, for example, of electronic goods assembly lines where, in addition, frequent production line setup changes make manual assembly still one of the most effective solutions. The time and costs needed for the construction of an automated line are often uncompetitive with the less advanced manual solution. Flexibility enhancement coming from human-robot interaction could ease robots deployment and drive their penetration also in such kinds of scenarios. A crucial factor for the enhancement of robot flexibility and for a feasible interaction is the availability of safe collabora-

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Optimal motion planning of redundant manipulators with controlled task infeasibility

Kim

Joo

2013

Mechanism and Machine Theory

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On-line trajectory resolution for two-armed systems with conflicting performance criteria

Cited by 6 publications

References 47 publications

Industrial robotic machining: a review

Industrial robotic machining: a review

Reactive Task Adaptation Based on Hierarchical Constraints Classification for Safe Industrial Robots

Optimal motion planning of redundant manipulators with controlled task infeasibility

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