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Bangenerering för industrirobot med 6 frihetsgrader
Linköping University, Department of Electrical Engineering.
2004 (Swedish)Independent thesis Basic level (professional degree)Student thesisAlternative title
Path generation in 6DOF for industrial robots (English)
Abstract [en]

This thesis studies path generation for industrial robots of six degrees of freedom. A path is defined by connection of simple geometrical objects like arcs and straight lines. About each point at which the objects connect, a region, henceforth called a zone, is defined in which deviation from the defined path is permitted. The zone allows the robot to follow the path at a constant speed, but the acceleration needed may vary.

Some means of calculating the zone path as to make the acceleration continuous will be presented. In joint space the path is described by the use of cubic splines. The transformation of the Cartesian path to paths in joint space will be examined. Discontinuities in the second order derivatives will appear between the splines.

A few examples of different zone path calculations will be presented where the resulting spline functions are compared with respect to their first and second order derivatives. An investigation of the number of spline functions needed when, given an upper limit of deviation, the transformation back to Cartesian coordinates is made.

Place, publisher, year, edition, pages
Institutionen för systemteknik , 2004. , 65 p.
LiTH-ISY-Ex, 3519
Keyword [en]
Reglerteknik, path generation, industrial robot, 6 DOF, cubic spline function
Keyword [sv]
National Category
Control Engineering
URN: urn:nbn:se:liu:diva-2376OAI: diva2:19708
Available from: 2004-06-04 Created: 2004-06-04

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