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. *

当前的六个自由机器人系统可以满足在工作空间中访问各个位置和位置的要求，但是它们经常以次优的方式这样做。 特别是，在特定类别的操作或操作（即电弧焊接）过程中，执行动力器过高效应通常是为了保持恒定的速度。 无法保持恒定速度会导致性能降低，即焊接质量降低。 戴维森教授设计了一类七个自由机器人，这些机器人有可能避免过度避免奇异性。 该项目利用了机器人类别的级别，并开发了使用此类机器人的工作电池的设计和综合。 WorkCell定义为一个设备，该单元包括机器人，一个或多个工具以某种角度和位置放置在机器人的末端效应器链路上，以及一个固定装置。 研究是通过五个步骤完成的，包括（1）开发对操纵器的代数维度分析的方程式，（2）探索合成方程的替代表述以扩大设计变量的数量，（3）确定用于近似于ManipeRator of ManipeRator of ManipeRator dimens of ManipeRator of ManipeRator of ManipeRator of ManipeRator的最大精确位置数量，（4） （5）提取其他设计条件，以最大程度地提高本研究中考虑的机器人类别的工作空间。 该研究的影响将在未来的工业机器人技术领域。 具体而言，结果可以减少制造设置所需的工程时间，为在工作单中的工具和固定装置的放置设计计算机自动化过程的开发，并构成了机器人计算机自动化编程以完成特定制造任务的重要一步。 *