The use of Robot Redundancy in Contour Path Operations for Selected Manufacturing Applications
| Author | Roushdy, E.H. |
| Author | El-Ghamrawy, T. |
| Available date | 2015-06-23T09:59:33Z |
| Publication Date | 1992-02 |
| Publication Name | Singapore International Conference on Intelligent Control and Instrumentation ( SICICI )'=1992 |
| Citation | Roushdy, E.H.; El-Ghamrawy, T., "The use of Robot Redundancy in Contour Path Operations for Selected Manufacturing Applications," Intelligent Control and Instrumentation, 1992. SICICI '92. Proceedings., Singapore International Conference on , vol.1, no., pp.272-277, 17-21 Feb 1992 |
| ISBN | 0-7803-0632-5 |
| 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. |
| Language | en |
| Publisher | IEEE |
| Subject | Robot control Manufacturing Motion control |
| Type | Conference Paper |
| Pagination | 272-277 |
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Mechanical & Industrial Engineering [1396 items ]