한국공작기계학회논문집 (Transactions of the Korean Society of Machine Tool Engineers)

한국생산제조학회 (The Korean Society of Manufacturing Technology Engineers)
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Generation of Constant Orientation in Industrial Robots

  • 이승황 (경북대학교 대학원) ;
  • 양승한 (경북대학교 기계공학부) ;
  • 박용국 (대구카톨릭대학교 기계자동화공학부)
  • 발행 : 2001.04.01
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초록

In general there are many degrees of freedom(DOFs) in industrial robots. So they have many poses of several special end-effectors positions and orientations. For that reason, industrial robots are used in a wide scope of industrial applica-tions such as welding, spray painting, deburring, and so on. In this research, an off-line continuous path planning method based on linear interpolation with parabolic blend is developed. The method safely maintains the constant orientation for base frame and end-effectors path within allowable error and minimizes the number of segments in path. This algorithm may apply to welding and painting in which the orientation is particularly significant. The simulation study of cartesian curve is carried out to show the performance of this algorithm.

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참고문헌

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