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Bangenerering för industrirobot med 6 frihetsgrader / Path generation in 6DOF for industrial robots

<p>This thesis studies path generation for industrial robots of six degrees of freedom. A path is defined by connection of simple geometrical objects like arcs and straight lines. About each point at which the objects connect, a region, henceforth called a zone, is defined in which deviation from the defined path is permitted. The zone allows the robot to follow the path at a constant speed, but the acceleration needed may vary. </p><p>Some means of calculating the zone path as to make the acceleration continuous will be presented. In joint space the path is described by the use of cubic splines. The transformation of the Cartesian path to paths in joint space will be examined. Discontinuities in the second order derivatives will appear between the splines. </p><p>A few examples of different zone path calculations will be presented where the resulting spline functions are compared with respect to their first and second order derivatives. An investigation of the number of spline functions needed when, given an upper limit of deviation, the transformation back to Cartesian coordinates is made.</p>

Identiferoai:union.ndltd.org:UPSALLA/oai:DiVA.org:liu-2376
Date January 2004
CreatorsForsman, Daniel
PublisherLinköping University, Department of Electrical Engineering, Institutionen för systemteknik
Source SetsDiVA Archive at Upsalla University
LanguageSwedish
Detected LanguageEnglish
TypeStudent thesis, text
RelationLiTH-ISY-Ex, ; 3519

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