Path planning and re-planning for serial 6 degree of freedom (DOF) robotic systems is challenging due to complex kinematic structure and application conditions which affects the robot's tool frame position, orientation and singularity avoidance. These three characteristics represent the key elements for production planning and layout design of the automated manufacturing systems. The robot trajectory represents series of connected points in 3D space. Each point is defined with its position and orientation related to the robot's base frames or predefined user frame. The robot will move from point to point using the desired motion type (linear, arc, or joint). The trajectory planning requires first to check if robot can reach the selected part(s). This can be simply done by placing the part(s) inside the robot's work envelope. The robot's work envelope represents a set of all robots' reachable points without considering their orientation. To visualize the robot's work envelope many available tools can be used. It is common that some of the accessible points cannot be reached with the desired tool orientation. For accurate and optimal robot path generation, a visualization of the predetermined regions related to the application is highly needed. These regions are named robot work window. In this paper, the work window has been calculated for the Fanuc LR Mate 200ic robot and the rapid prototyping application. The visual representation of the work window has been done using MATLAB tools and evaluated using the Fanuc LR Mate 200ic robot which is available in our lab.
展开▼
机译：串行6自由度（DOF）机器人系统的路径规划和重新规划具有挑战性，因为复杂的运动学结构和应用条件会影响机器人的工具框架位置，方向和避免奇点。这三个特征代表了自动化生产系统的生产计划和布局设计的关键要素。机器人轨迹表示3D空间中的一系列连接点。每个点的位置和方向都与机器人的基本框架或预定义的用户框架相关。机器人将使用所需的运动类型（线性，圆弧或关节）从一个点移动到另一个点。轨迹规划首先需要检查机器人是否可以到达所选零件。只需将零件放在机器人的工作空间内即可完成。机器人的工作范围代表了所有机器人的可到达点的集合，而无需考虑它们的方向。为了可视化机器人的工作范围，可以使用许多可用的工具。通常，某些可到达点无法通过所需的刀具方向到达。为了精确和最佳地生成机器人路径，非常需要可视化与应用程序相关的预定区域。这些区域称为机器人工作窗口。在本文中，已经为Fanuc LR Mate 200ic机器人和快速原型应用计算了工作窗口。工作窗口的可视化表示已使用MATLAB工具完成，并使用了我们实验室中可用的Fanuc LR Mate 200ic机器人进行了评估。
展开▼
