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

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    Date
    1992-02
    Author
    Roushdy, E.H.
    El-Ghamrawy, T.
    Metadata
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    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.
    DOI/handle
    http://dx.doi.org/10.1109/SICICI.1992.641705
    http://hdl.handle.net/10576/3376
    Collections
    • Mechanical & Industrial Engineering [‎1472‎ items ]

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