The joint-limits and singularity avoidance in robotic welding

Purpose - The aim of this paper is to develop a redundancy-resolution (RR) algorithm to optimize the joint space trajectory of the six-rotation-axis industrial robot as performing arc-welding tasks.Design methodology approach - The rotation of the tool around its symmetry axis is clearly irrelevant...

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Bibliographic Details
Published in:Industrial robot Vol. 35; no. 5; pp. 456 - 464
Main Authors: Huo, Liguo, Baron, Luc
Format: Journal Article
Language:English
Published: Bedford Emerald Group Publishing Limited 01.01.2008
Subjects:
Algorithms
Decomposition
Electrodes
Kinematics
Materials handling
Robotics
Studies
Velocity
Welding
Materials handling
Programming and algorithm theory
Robotics
ISSN:0143-991X, 1758-5791
Online Access:Get full text
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Summary:Purpose - The aim of this paper is to develop a redundancy-resolution (RR) algorithm to optimize the joint space trajectory of the six-rotation-axis industrial robot as performing arc-welding tasks.Design methodology approach - The rotation of the tool around its symmetry axis is clearly irrelevant to the view of the task to be accomplished besides some exceptional situations. When performed with a general 6-degrees-of-freedom (DOF) manipulator, there exists one DOF of redundancy that remains. By taking advantage of the symmetry axis of the welding electrode, the authors decompose the required instantaneous twist of the electrode into two orthogonal components, one lying into the relevant task subspace and one into the redundant task subspace, respectively. Joint-limits and singularity avoidance are considered as the optimization objectives.Findings - The twist-decomposition algorithm is able to optimize effectively the joint space trajectory. It has been tested and demonstrated in simulation.Originality value - A new RR algorithm is introduced for the six-rotation-axis industrial robot performing welding tasks. A new kinetostatic performance index is proposed on evaluating the kinematic quality of robotic postures. It can also be used in other applications like milling, deburing and many other tasks requiring less than 6-DOF in tool frame.
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ISSN:0143-991X
1758-5791
DOI:10.1108/01439910810893626