Robotic Joint-Motion Optimization of Functionally-Redundant Tasks: With Application on Joint-Limits and Singularity Avoidance - Couverture souple

Huo, Liguo

Couverture souple

ISBN 10 : 383830764X ISBN 13 : 9783838307640

Editeur : LAP Lambert Academic Publishing, 2009

Synopsis

Most of machining operations, such as welding, deburring or milling, have a symmetry axis. Clearly, the rotation of the tool around the symmetry axis is irrelevant to the view of the task to be accomplished. If the task is performed with a six-rotation-axis industrial robot, there is one degrees of freedom of kinematic redundancy, which provides the potential of optimization. This kind of redundancy is called as functional redundancy, with contrast to intrinsic redundancy well known by most researchers. Functionally-redundant (FR) tasks have very common existence in the industrial robotic field, but still are ignored by most researchers. Concerning the requirement for applying industrial robot in manufacturing, this book proposes a new redundant-resolution approach to solve functionally-redundant robotic tasks. This approach is called Twist Decomposition Approach(TWA). In this book, joint-limits and singularity avoidance are considered as the two main optimization objectives.

Détails de l'édition

• Éditeur: LAP Lambert Academic Publishing
• Date d'édition: 2009
• Langue: anglais
• ISBN 10: 383830764X
• ISBN 13: 9783838307640
• Reliure: Broché
• Nombre de pages: 140
• Coordonnées du fabricant: non disponible
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