Industrial robot path planning in a constraint-based computer-aided design and kinematic analysis environment

Vosniakos, GC; Chronopoulos, A

dc.contributor.author	Vosniakos, GC	en
dc.contributor.author	Chronopoulos, A	en
dc.date.accessioned	2014-03-01T01:30:53Z
dc.date.available	2014-03-01T01:30:53Z
dc.date.issued	2009	en
dc.identifier.issn	0954-4054	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/19671
dc.subject	industrial robot	en
dc.subject	path planning	en
dc.subject	robot programming	en
dc.subject	constraints	en
dc.subject	kinematic simulation	en
dc.subject.classification	Engineering, Manufacturing	en
dc.subject.classification	Engineering, Mechanical	en
dc.subject.other	VIRTUAL-REALITY	en
dc.subject.other	CAD	en
dc.subject.other	SIMULATION	en
dc.subject.other	SOFTWARE	en
dc.title	Industrial robot path planning in a constraint-based computer-aided design and kinematic analysis environment	en
heal.type	journalArticle	en
heal.identifier.primary	10.1243/09544054JEM1234	en
heal.identifier.secondary	http://dx.doi.org/10.1243/09544054JEM1234	en
heal.language	English	en
heal.publicationDate	2009	en
heal.abstract	Paths of industrial robots are easier to plan by using constraints on accurate computer-aided design (CAD) models of both objects representing the real industrial robotic cell and virtual objects representing the auxiliary geometry that is necessary to define path points. The motion path normally needs to be split into segments possessing uniform characteristics, e.g. common active joints, at points usually corresponding to position or velocity extremes. Each segment corresponds either to point-to-point motion or to constrained motion. Point-to-point motion is implemented by interpolating between original and final position of each joint separately, positions being determined through inverse kinematics in the CAD environment and motion being imparted to each joint directly. Constrained motion may be defined using several alternatives materialized with stationary and moving virtual objects, real robot joints, virtual joints, contact constraints, and motion constraints. Motion duration is specified after the corresponding path geometry has been specified, by exploiting maximum active joints velocity as well as end-tool velocity as dictated by the process. Collisions are detected using available functionality and are alleviated interactively. A user-defined number of interpolated robot poses are generated per segment. These are all 'sewn' together at the motion synthesis stage and frame-based simulation is generated. A realistic robotic lathe loading/unloading example is used to verify the use of the above notions and tools.	en
heal.publisher	PROFESSIONAL ENGINEERING PUBLISHING LTD	en
heal.journalName	PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART B-JOURNAL OF ENGINEERING MANUFACTURE	en
dc.identifier.doi	10.1243/09544054JEM1234	en
dc.identifier.isi	ISI:000266359300007	en
dc.identifier.volume	223	en
dc.identifier.issue	5	en
dc.identifier.spage	523	en
dc.identifier.epage	533	en