No CrossRef data available.
Article contents
Specific computation of inverse kinematics in a robot off-line programming environment
Published online by Cambridge University Press: 09 March 2009
Summary
An off-line programming station for a robotised welding cell is presented. In this context the choice of a kinematic inversion method applied to the simulation of robots is discussed.
A direct inversion method is developed in the case of 5-axes robots of plane geometry and for a task presenting a symmetry of revolution. It uses the geometry of the tool and of the robot and vectorial calculations very well adapted to this particular case. The results presented validate the choice of this method for a specialised programming environment.
- Type
- Research Article
- Information
- Copyright
- Copyright © Cambridge University Press 1989
References
1.Soroka, B., “What can't robot languages Do?” Proceedings of 13th ISIR 12, 1–18 (04, 1983).Google Scholar
2.Liegois, A., Borrel, P. and Dombre, E., “Programming, simulating and evaluating robot action” 2nd Int Symposium of Robotics Research, Kyoto (Japan), 08, 309–316 (1984).Google Scholar
3.Konstantinov, M.S., Markov, M.D. and Nenchev, D.N., “Kinematic control of redundant manipulators” Proceedings of llth ISIR Tokyo, 561–568 (10, 1981).Google Scholar
4.Klein, A., “CAD-based off-line programming of painting” Robotica 5, 267–271 (1987).CrossRefGoogle Scholar
5.Bourez, M., Legre, F., Parent, M., Queromes, J.G. and Renault, A., “Automatic programming of a spray robot” Congrès Autofact Geneve (09 1983).Google Scholar
6.Cassar, J.P., “Poste de programmation graphique de cellule de soudage robotisée” Thèse de Docteur Ingénieur, Université de Lille, France (07, 1987).Google Scholar
8.Hornick, M.L. and Ravani, B. “Computer-aided off-line programming of robot motion” Robotics Research 4, No. 4, 18–31 (Winter 1986).CrossRefGoogle Scholar
9.Coiffet, Ph., Les Robots, Tome 1-Modélisation et commande (Hermès, France. 1981) pp. 73–86.Google Scholar
10.Paul, R.P., Shinano, B. and Mayer, G.E., “Differential kinematic control equations for simple manipulators: IEEE Transaction on system, man; and cibernetics SMC-11, No. 6, 456–460 (06, 1981).Google Scholar
11.Renaud, M., “Contribution à la modélisation et à la commande dynamique des robots manipulateurs” Thèse de Docteur d'Etat. Université P. Sabatier de Toulouse-France 29–48, (09, 1980).Google Scholar
12.Nemec, B. and lenaric, J., “A robot simulation on kinematic analyses” Robotica 3, 79–84 (1985).CrossRefGoogle Scholar
13.Milenkovic, V. and Huang, B., “Kinematic of major robot linkage” Proceedings of 13th ISIR, Chicago 16, 31–47 (04, 1983).Google Scholar
14.Bazerghe, A., Goldenberg, A. and Apkarian, J. “An exact kinematic model of PUMA 600 manipulator” IEEE Transaction on system, man and cibernetics SMC-14, No. 3, 483–487 (05/06 1984).Google Scholar
15.Lee, C.S.G., “Robot Arm Kinematic” IEEE Tutorial on robotics (The MIT Press, Cambridge, U.S., 1982) pp. 47–65.Google Scholar
16.Paul, R.P., Shinano, B. and Mayer, G.E., “Kinematic control equations for simple manipulators” IEEE Transaction on system, man and cibernetics SMC-11, No. 6, 449–455 (06, 1981).Google Scholar
17.Lee, C.S.G. and Ziegler, M., “A geometric approach in solving inverse kinematic of PUMA robots” Proceedings of 13th ISIR, Chicago 16, 1–23 (04, 1983).Google Scholar
18.Risbourg, A. and Da Costa, S., “Programmation hors-ligne: vers une mise en oeuvre industrielle” CAO et Robotique: Etat de l'Art. Actes du Symposium AFRI-MICADO (Hermès, France, 1986) pp. 158–168.Google Scholar