Modelling robot manipulators with multivariate B-splines

Johnson, Colin G.; Marsh, D.

doi:10.1017/s0263574799001307

Cited by 9 publications

(3 citation statements)

References 33 publications

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“…15. 5. Robot is retracted from the lathe to allow it to process the bar and waits at a safe point, see Fig. 14.…”

Section: Case Studymentioning

confidence: 99%

“…In reference [4], trajectories of robot endtools are found by generating the robot pose ruled surface and optimizing its area under the constraints of good kinematics and dynamics performance. In reference [5], robot motions are represented using multivariate B-splines, this representation being used in collision detection and path planning. Chen et al [6] developed a CAD-based system for trajectory generation in spray painting freeform surfaces, where paint thickness is expressed in terms of paint gun velocity.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Industrial robot path planning in a constraint-based computer-aided design and kinematic analysis environment

Vosniakos

Chronopoulos

2009

Proceedings of the Institution of Mechanical Engineers, Part B:

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Paths of industrial robots are easier to plan by using constraints on accurate computer-aided design (CAD) models of both objects representing the real industrial robotic cell and virtual objects representing the auxiliary geometry that is necessary to define path points. The motion path normally needs to be split into segments possessing uniform characteristics, e.g. common active joints, at points usually corresponding to position or velocity extremes. Each segment corresponds either to point-to-point motion or to constrained motion. Point-to-point motion is implemented by interpolating between original and final position of each joint separately, positions being determined through inverse kinematics in the CAD environment and motion being imparted to each joint directly. Constrained motion may be defined using several alternatives materialized with stationary and moving virtual objects, real robot joints, virtual joints, contact constraints, and motion constraints. Motion duration is specified after the corresponding path geometry has been specified, by exploiting maximum active joints velocity as well as end-tool velocity as dictated by the process. Collisions are detected using available functionality and are alleviated interactively. A user-defined number of interpolated robot poses are generated per segment. These are all 'sewn' together at the motion synthesis stage and frame-based simulation is generated. A realistic robotic lathe loading/ unloading example is used to verify the use of the above notions and tools.

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“…15. 5. Robot is retracted from the lathe to allow it to process the bar and waits at a safe point, see Fig. 14.…”

Section: Case Studymentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Industrial robot path planning in a constraint-based computer-aided design and kinematic analysis environment

Vosniakos

Chronopoulos

2009

Proceedings of the Institution of Mechanical Engineers, Part B:

View full text Add to dashboard Cite

show abstract

“…In [25] Shin and Mckay have presented a solution to the problem of minimising the power consumption of moving a serial robotic manipulator along a specified end-effector path subject to input torque/force constraints, by taking into account the dynamics of the manipulator. Other optimum path planning methods can be found like for example in [26][27][28][29][30][31][32][33]. Some attempts have been made also to consider obstacles as constraints in the path planning generation process, as it is proposed for example in [34].…”

Section: Introductionmentioning

confidence: 99%