Original scientific paper

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

Abstract

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.

Keywords

constraint, industrial robot; kinematic; machining; offline programming

Hrčak ID:

97488

URI

https://hrcak.srce.hr/97488

Publication date:

22.2.2013.

Article data in other languages: croatian

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