2 research outputs found
Kinematic constraints and offline programming in robotic machining applications
Robotski obradni programi postaju sve uÄestaliji u svijetu industrijskih robota. MeÄutim, njihova kinematiÄka složenost joÅ” uvijek nudi mnogo izazova. Ovaj rad daje pregled kinematiÄkih ograniÄenja, koja su važna za izvanmrežno programiranje industrijskih robota za uporabu kod obradnih programa. Prikazana su tri moguÄa rjeÅ”enja za prevladavanje kinematiÄkih ograniÄenja (end-effector rotacija, djelomiÄna translacija i djelomiÄna rotacija). Razvijen je raÄunalni algoritam za izbjegavanje takvih ograniÄenja, programiran i testirani analizom sluÄaja. Rezultati pokazuju da kinematiÄka ograniÄenja mogu biti automatski izbjegnuta primjenom razvijenog algoritma izbjegavanja kod izvanmrežnog programiranja softvera za robotsku obradu odvajanjem Äestica.Robotic machining applications are becoming more and more frequent in the world of industrial robots. However, their kinematic complexity still offers many challenges. This work presents an overview of kinematic constraints, which are important for the offline programming of industrial robots for the use in machining applications. The three possible solutions for overcoming kinematic constraints (end-effector rotation, part translation, and part rotation) are presented. The computer algorithm for avoiding such constraints was developed, programmed and tested with a case study. Results show that kinematic constraints can be automatically avoided by implementation of developed avoidance algorithm into the offline programming software for robotic machining