Tehnički vjesnik, Vol. 20 No. 1, 2013.
Izvorni znanstveni članak
Kinematic constraints and offline programming in robotic machining applications
Primož Kržič
; University of Ljubljana, Faculty of Mechanical Engineering, Aškerčeva 6, 1000 Ljubljana, Slovenia
Franci Pušavec
; University of Ljubljana, Faculty of Mechanical Engineering, Aškerčeva 6, 1000 Ljubljana, Slovenia
Janez Kopač
; University of Ljubljana, Faculty of Mechanical Engineering, Aškerčeva 6, 1000 Ljubljana, Slovenia
Sažetak
Robotic machining applications are becoming more and more frequent in the world of industrial robots. However, their kinematic complexity still offers many challenges. This work presents an overview of kinematic constraints, which are important for the offline programming of industrial robots for the use in machining applications. The three possible solutions for overcoming kinematic constraints (end-effector rotation, part translation, and part rotation) are presented. The computer algorithm for avoiding such constraints was developed, programmed and tested with a case study. Results show that kinematic constraints can be automatically avoided by implementation of developed avoidance algorithm into the offline programming software for robotic machining.
Ključne riječi
constraint, industrial robot; kinematic; machining; offline programming
Hrčak ID:
97488
URI
Datum izdavanja:
22.2.2013.
Posjeta: 3.029 *