Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Dynamic workspace analysis of a robot manipulator for conveyor tracking system

로봇의 동특성을 고려한 컨베이어 추적시스템의 작업영역 해석

  • Park, Tae-Hyoung (Dept. of Electrical Elecronic Engineering, Chungbuk National University)
  • 박태형 (충북대학교 전기전자공학부)
  • Published : 1998.04.01
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Abstract

The concept of dynamic tracking line is proposed as the feasible tracking region for a robot in a robot-conveyor system, which takes the conveyor speed into consideration. This paper presents an effective method to identify the dynamic tracking line in a robotic workcell. The maximum line speed of a robot is derived in an analytic form using the parameterized dynamics and kinematics of the manipulator, and some of its properties are established mathematically. The identification problem of the dynamic tracking line is then formulated as a root-solving problem for a single-variable equation, and solved by using a simple numerical technique. Finally, numerical examples are presented to demonstrate the methodology and its applications in workspace specification.

Keywords

References

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