標題: PATH FEASIBILITY AND MODIFICATION BASED ON THE PUMA 560 WORKSPACE ANALYSIS
作者: SHAO, KC
YOUNG, KY
交大名義發表
電控工程研究所
National Chiao Tung University
Institute of Electrical and Control Engineering
公開日期: 1-Mar-1994
摘要: Robot paths are planned according to different industrial tasks. Their kinematic feasibility is restrained by the structure of the given robot manipulator. In order to design feasible paths under kinematic constraints and different task requirements, we propose first to utilize the geometry of the given robot to generate the geometric boundaries of different regions corresponding to kinematic constraints in the robot workspace. Geometric expressions are then derived to describe the relationship about the planned path and the robot workspace. Finally, by applying the developed modification strategies based on different task requirements, feasible paths can be obtained by modifying the infeasible portions of the paths. To demonstrate the proposed feasibility and modification schemes, the PUMA 560 robot manipulator is selected as a case study due to its complexity and practical application. The results are then extended to general wrist-partitioned types of industrial robot manipulators.
URI: http://dx.doi.org/10.1115/1.2919372
http://hdl.handle.net/11536/2610
ISSN: 1050-0472
DOI: 10.1115/1.2919372
期刊: JOURNAL OF MECHANICAL DESIGN
Volume: 116
Issue: 1
起始頁: 36
結束頁: 43
Appears in Collections:Articles