Start Date
14-5-2021 10:10 AM
End Date
14-5-2021 10:30 AM
Document Type
Full Paper
Keywords
trajectory planning, robotic surface finishing, robot manipulators
Description
Robot usage in the industry increase every year by the developments in technology. Industrial robots not only timesaver but also ensures the quality of the products in machining operations. Robots specialized for machine tool operations have limited utilization compared to those which for assembly, welding, or pick & place operations. In this paper we focused on the development and verification of a planar manipulator path trajectory which will going to do surface finishing operation on a work piece. To do this first we define a desired path and the unknown coefficients of joint variables have been calculated by performing direct and inverse kinematic analysis and applying the conditions of position, velocity, and acceleration of the given trajectory. Obtained trajectory of the end effector has been tested on both simulation and real task space. Results of theoretically calculated trajectory have been verified by computational simulation and end-effector trajectory of the prototype has been verified via motion tracking system with cameras.
DOI
https://doi.org/10.5038/CSJV5510
Development of Trajectory Design of a Planar PRR Redundant Serial Manipulator
Robot usage in the industry increase every year by the developments in technology. Industrial robots not only timesaver but also ensures the quality of the products in machining operations. Robots specialized for machine tool operations have limited utilization compared to those which for assembly, welding, or pick & place operations. In this paper we focused on the development and verification of a planar manipulator path trajectory which will going to do surface finishing operation on a work piece. To do this first we define a desired path and the unknown coefficients of joint variables have been calculated by performing direct and inverse kinematic analysis and applying the conditions of position, velocity, and acceleration of the given trajectory. Obtained trajectory of the end effector has been tested on both simulation and real task space. Results of theoretically calculated trajectory have been verified by computational simulation and end-effector trajectory of the prototype has been verified via motion tracking system with cameras.