Szczegóły publikacji
Opis bibliograficzny
Study on selection of a 6R manipulator's configuration in off-line programming / Wojciech LISOWSKI // W: 4th Polish congress of Mechanics and the 23rd international conference on Computer methods in mechanics [Dokument elektroniczny] : 8–12 September 2019, Krakow, Poland / eds. Witold Cecot, Marek Kozień, Wojciech Lisowski, Kinga Nalepka, Jerzy Pamin, Wacław Reczek, Błażej Skoczeń. — Wersja do Windows. — Dane tekstowe. — [USA] : AIP Publishing, 2020. — (AIP Conference Proceedings ; ISSN 0094-243X ; vol. 2239). — e-ISBN: 978-0-7354-1998-8. — S. 020027-1–020027-12. — Wymagania systemowe: Adobe Reader. — Bibliogr. s. 020027-12, Abstr. — Publikacja dostępna online od: 2020-05-22
Autor
Dane bibliometryczne
| ID BaDAP | 128868 |
|---|---|
| Data dodania do BaDAP | 2020-06-12 |
| Tekst źródłowy | URL |
| DOI | 10.1063/5.0008022 |
| Rok publikacji | 2020 |
| Typ publikacji | materiały konferencyjne (aut.) |
| Otwarty dostęp |  |
| Creative Commons | |
| Wydawca | American Institute of Physics |
| Czasopismo/seria | AIP Conference Proceedings |
Abstract
This paper presents a problem of selection of a robotic manipulator configuration in the course of an end- effector static path planning with the use of off-line programming technique. The aim of the research was to carry out exemplary analyses of path planning to study problems related to manipulator configuration selection. A kinematic structure of the articulated manipulator was chosen for the numerical simulation purpose. Two types of paths were considered. For analysis of the Point-to-Point (PTP) positioning a closed-loop path composed of 7 poses was chosen. A considerable variation of the end-effector orientation along the path was simulated. The author suggested determination of the shortest path as the one that is the most suitable for application. The conducted simulation showed that a change of configuration of the manipulator wrist (flip) was advantageous for shortening of PTP paths so it should be allowed during the PTP paths planning. The continuous positioning was analyzed on an example of a rectangular (linear-segment) path. Again, considerable variation of the end-effector orientation was assumed. The results of the continuous path planning showed that appropriate location of path in a robotic manipulator workspace is necessary for obtaining feasible continuous paths. The reported results of the study might help improving automatic configuration assignment procedures of the static path planning with the use of off-line programming technique.
