Details
| Original language | English |
|---|---|
| Title of host publication | Advances in Mechanism and Machine Science |
| Subtitle of host publication | Proceedings of the 15th IFToMM World Congress on Mechanism and Machine Science |
| Place of Publication | Cham |
| Pages | 1701-1710 |
| Number of pages | 10 |
| ISBN (electronic) | 978-3-030-20131-9 |
| Publication status | Published - 14 Jun 2019 |
Publication series
| Name | Mechanisms and Machine Science |
|---|---|
| ISSN (Print) | 2211-0984 |
Abstract
Robotic tasks like welding or drilling with three translational and only two rotational degrees of freedom (“3T2R”) are of high industrial relevance but are rather scarcely addressed in scientific publications. Existing solutions for the resolution of the functional redundancy of robotic manipulators with more than five axes performing these tasks either expand the full kinematic formulation or reduce it in intermediate steps. This paper presents an approach to reduce the kinematic formulation from the start to solve the problem in a simpler way. This is done by using a set of reciprocal Euler angles to describe the end-effector orientation and the orientation error in inverse kinematics.
Keywords
- 3T2R task, five-DoF task, functional redundancy, inverse kinematics, reciprocal Euler angles, robot manipulators
ASJC Scopus subject areas
- Engineering(all)
- Mechanics of Materials
- Engineering(all)
- Mechanical Engineering
Cite this
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Advances in Mechanism and Machine Science: Proceedings of the 15th IFToMM World Congress on Mechanism and Machine Science. Cham, 2019. p. 1701-1710 (Mechanisms and Machine Science).
Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review
}
TY - GEN
T1 - Resolution of Functional Redundancy for 3T2R Robot Tasks using Two Sets of Reciprocal Euler Angles
AU - Schappler, Moritz
AU - Tappe, Svenja
AU - Ortmaier, Tobias
N1 - Funding Information: The financial support from the Deutsche Forschungsgemeinschaft (DFG) under grant number OR 196/33-1 is gracefully acknowledged.
PY - 2019/6/14
Y1 - 2019/6/14
N2 - Robotic tasks like welding or drilling with three translational and only two rotational degrees of freedom (“3T2R”) are of high industrial relevance but are rather scarcely addressed in scientific publications. Existing solutions for the resolution of the functional redundancy of robotic manipulators with more than five axes performing these tasks either expand the full kinematic formulation or reduce it in intermediate steps. This paper presents an approach to reduce the kinematic formulation from the start to solve the problem in a simpler way. This is done by using a set of reciprocal Euler angles to describe the end-effector orientation and the orientation error in inverse kinematics.
AB - Robotic tasks like welding or drilling with three translational and only two rotational degrees of freedom (“3T2R”) are of high industrial relevance but are rather scarcely addressed in scientific publications. Existing solutions for the resolution of the functional redundancy of robotic manipulators with more than five axes performing these tasks either expand the full kinematic formulation or reduce it in intermediate steps. This paper presents an approach to reduce the kinematic formulation from the start to solve the problem in a simpler way. This is done by using a set of reciprocal Euler angles to describe the end-effector orientation and the orientation error in inverse kinematics.
KW - 3T2R task
KW - five-DoF task
KW - functional redundancy
KW - inverse kinematics
KW - reciprocal Euler angles
KW - robot manipulators
UR - http://www.scopus.com/inward/record.url?scp=85067564483&partnerID=8YFLogxK
U2 - 10.15488/10210
DO - 10.15488/10210
M3 - Conference contribution
SN - 978-3-030-20130-2
T3 - Mechanisms and Machine Science
SP - 1701
EP - 1710
BT - Advances in Mechanism and Machine Science
CY - Cham
ER -