Dedicated forward kinematics algorithms for SCARA and palletizing robots
Journal Title: Proceedings in Manufacturing Systems - Year 2018, Vol 13, Issue 4
Abstract
This paper presents the development and validation of optimized mathematical algorithms for solving the forward kinematics problem in the case of two industrial robot architectures: SCARA and palletizing robots. While there are well established methods for describing the position and orientation of mechanism links with respect to a reference frame – in the case of industrial robots, the base frame – these algorithms, such as the Denavit-Hartenberg convention or the quaternion approach, are very flexible and applicable for all industrial robots with serial architecture. Thus, these algorithms do not necessarily provide the most efficient approach in all cases. Since there are certain kinematic particularities for each robot architecture, this article intends to exploit the specific structural properties of SCARA and palletizing robots in order to develop more efficient, dedicated algorithms for solving the forward kinematics equations. For each algorithm, the input parameters were considered to be the distance between axes and joint parameters, while the output parameters were considered to be the x, y and z coordinates of the tool center point with respect to the base frame, as well as a rotation matrix expressing the orientation of the tool center point frame with respect to the base frame of the robot. The algorithms were validated using the Catia V5 software by using the DMU Kinematics module to configure the robot kinematics.
Authors and Affiliations
Cezara Georgia Coman, Andrei Mario Ivan, Cozmin Cristoiu, Bogdan VERDETE
Keywords
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