چکیده مقاله
One of the main problems in implementing the robots in industry can be mentioned as the need of permitting robot motion to be modified continuously as the manipulator is traversing along a taught trajectory An innovative method is developed in this paper to approach this goal Working in the joint space, the path shapes in space and time is described in terms of functions of joint angles An inductive sensor is located on the manipulator's end effector to indicate the position of the desired trajectory By applying the inverse kinematics, these positions would be converted into a set of desired joint angles Then a smooth function is found for each of the 6 joints which pass through the intermediate via points and end at the goal point As the advantages of this method, reasonability, being easily implemented and compatible with most of the robots
کلیدواژهها
نویسندگان
M . Korayem
ProfessorMechanical Engineering Department, Iran University of Science and Technology IUST , Tehran, Iran
M Esmaeili M. A
M S student of Mechatronics at IUST
شیوه ارجاع
Korayem, M . and Esmaeili M. A, M,1386,An Innovative Method for Tracking Taught Trajectories for VW-SEF G121 Robot,02nd Tehran International Congress on Manufacturing Engineering (TICME2007),Tehran
ارائهشده در
مجموعه مقالات دومین کنفرانس بین المللی و هشتمین کنفرانس ملی مهندسی ساخت و تولید10 اسفند 1386 · تهران