The Inverse Kinematics for Control of a New Class of Robots for Computer-Integrated Flexible Manufacturing

用于计算机集成柔性制造的新型机器人控制的逆运动学

• 批准号: 8821927
• 负责人: Joseph Davidson
• 金额: $ 18.95万
• 依托单位: Arizona State University
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 1989
• 资助国家: 美国
• 起止时间: 1989-08-01 至 1993-01-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=8821927&HistoricalAwards=false
• 关键词: Inverse; Kinematics; Control; New; Class

Current six degree of freedom robot systems can meet the requirement of accessing a broad range of locations and positions in a workspace, but they frequently have the disadvantage of doing this in a suboptimal way. In particular, actuator overspeeding effects are often encountered in an attempt to maintain a constant speed during a particular class of operations or maneuvers, i.e., arc welding. Failure to maintain constant speed can result in reduced performance, i.e., degraded weld quality. Professor Davidson has designed a class of seven degree of freedom robots which have the potential of avoiding the overspeeding singularities. This project exploits that class of robots and develops the design and synthesis of workcells which use such robots. Workcell is defined as a unit comprising a robot, one or more tools placed at some angle and position on the end effector link of the robot, and a fixture. The research is accomplished through five steps including (1) developing the equations for algebraic dimensional analysis of the manipulators, (2) exploring alternative formulations of the synthesis equations to expand the number of design variables, (3) determining the maximum number of precision locations used to approximate a task, (4) prescribing the manipulator workspace in terms of manipulator dimensions and excursion ranges at the joints, and (5) extracting additional design conditions to enable maximizing the volume of workspace for the class of robots considered in this study. The research's impact will be in the area of future industrial robot technology. Specifically, the results could reduce the engineering time required for manufacturing setup, provide for the development of computer automated procedures of design for the placement of tools and fixtures in workcells, and constitute an important step in the computer automated programming of a robot to accomplish a specific manufacturing task. *

当前的六自由度机器人系统可以满足访问工作空间中的广泛位置和位置的要求，但它们通常具有以次优方式实现这一点的缺点。 具体地，在特定类别的操作或操纵（即，电弧焊）期间试图保持恒定速度时，经常会遇到致动器超速效应。 未能保持恒定速度可能会导致性能下降，即焊接质量下降。 戴维森教授设计了一种七自由度机器人，具有避免超速奇点的潜力。 该项目利用了此类机器人，并开发了使用此类机器人的工作单元的设计和合成。 工作单元被定义为一个单元，包括机器人、以一定角度和位置放置在机器人末端执行器连杆上的一个或多个工具以及夹具。 该研究通过五个步骤完成，包括（1）开发机械臂代数维分析方程，（2）探索综合方程的替代公式以扩大设计变量的数量，（3）确定精度位置的最大数量用于近似任务，（4）根据机械手尺寸和关节处的偏移范围规定机械手工作空间，以及（5）提取额外的设计条件以最大化该类机器人的工作空间体积本研究中考虑。 该研究的影响将涉及未来工业机器人技术领域。 具体来说，结果可以减少制造设置所需的工程时间，为在工作单元中放置工具和夹具的计算机自动化设计程序的开发提供依据，并构成机器人计算机自动化编程的重要一步，以完成具体的制造任务。 *