Name
Abstract | ||
|---|---|---|
For a 6R milling robot, it is necessary to convert the postprocessing cutter locations (CL) into the robot’s revolute joint
variables. This paper introduces an algorithm for calculating the forward and inverse kinematics of a 6R robot according to
the CL data generated by conventional CAD/CAM systems. A redundant mechanism is analyzed to avoid the singular configurations
and joint limits. The Denavit–Hartenberg (D–H) convention is referred to for developing the forward kinematics, and a closed-form
solution of the inverse kinematics is presented by means of kinematic decoupling. A fundamental approach with modifying factor
for avoiding singularity are developed with regard to three-axis and five-axis CL data. A gap bridging strategy is applied
to reduce the jerk motion caused by tool retraction and cut paths connection. Finally, the result is conducted to simulation
and machining test to verify the algorithms. |
Year | DOI | Venue |
|---|---|---|
2011 | 10.1007/s11740-010-0283-9 | Production Engineering |
Keywords | Field | DocType |
milling robotclosed-form kinematics � redundancysingularity avoidance,closed form solution,inverse kinematics | Kinematics,Kinematics equations,Inverse kinematics,Control theory,321 kinematic structure,Jerk,Robot kinematics,Revolute joint,Forward kinematics,Engineering | Journal |
Volume | Issue | ISSN |
5 | 1 | 1863-7353 |
Citations | PageRank | References |
3 | 1.06 | 4 |
Authors | ||
5 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Wenlei XiaoHenning | 1 | 3 | 1.06 |
| Henning Strauß | 2 | 3 | 1.06 |
| Torsten Loohß | 3 | 4 | 2.11 |
| Hans-Werner Hoffmeister | 4 | 4 | 2.11 |
| Jürgen Hesselbach | 5 | 23 | 9.27 |