The Generation of Robot Effector Trajectory Avoiding Obstacles

Abstract

Unconventional machining methods, or also progressive machining methods, such as laser cutting, waterjet cutting, ultrasound machining, etc. are undergoing a very rapid development. Laser cutting machines often evaluate even 80 parameters in real time. Their advantage is the significantly higher productivity. Many values are defined by the machine manufacturer and can not be changed for a given laser. For custom laser cutting there are 2 essential parameters, adjustable depending on the process gas employed. The aim of this article is to find the setting that will reduce the consumption of process media while maintaining or improving the quality of the machined surface.

An Algorithm in the Process of Planning of Safety Pathway – a Collision-Free Pathway of a Robot

“…The robot environment was created in the CATIA system. In general, the robot's workspace can have [5,7,9]: 1. The theoretical working space of the robot is the real space in which the robot is located, performs a work there and it is understood as a set of all points that are theoretically achievable by the end effector.…”

“…Universal methods are applied mainly to the large CAD systems when the programming system has to handle an inverse kinematic role of any kinematic structure. For the management application, the speed of the calculation is decisive, because the inverse task solution ideally takes place in real time [4,7].…”

“…In order to calculate the inverse solution, it is necessary to obtain the individual articulated variables of the robot at the specified position of the end effector orientation. Therefore, we used the following formulas to calculate the sum and difference of the two angles of trigonometric functions: sin (α ± β)= sin α cos β ± cos α sin β (7) cos (α ± β)= cos α cos β ± sin α sin β (8) On the basis of the resulting matrix pertaining to the position and orientation of the robot effector Te, the following formulae apply to determine the position:…”

Dimensional Optimization of the Robotic Arm to Reduce Energy Consumption

“…In [Chen 2011] the authors propose computational techniques to find the maximal acceleration and minimal jerk along the trajectory and in [Zhang 2017] a new robot trajectory planning method is introduced based on a genetic chaos optimization algorithm. An algorithm for jerk bounded Synchronized Trigonometric S-curve Trajectory (STST) and the 'forbidden-sphere' technique to avoid obstacles have also been proposed in [Perumaal 2013] and in [Komak 2018] authors propose smoothed collision-free trajectory around the obstacles.…”