The use of Robot Redundancy in Contour Path Operations for Selected Manufacturing Applications

Abstract

Redundant robots have many applications and use in path synthesis for crowded workspace and in minimum time control path tracking problems. In selected manufacturing applications - such as spray painting, continuous welding, or water jet cutting operations - the need for such redundancy is of great significance to overcome the robot joint limitations and the singular configurations. In this study, a model is developed for the Mitsubishi Movemaster EX-FN-M1 Industrial Micro-Robot System for such operations. The results show that the redundancy can be utilized to achieve more efficient motion through point-to-point control mode to achieve contour path suitable for the selected manufacturing applications.