Kinematic Analysis of a 6-DOF Wire-based Tracking Device and Control Strategy for its Application in Robot Easy Programming

摘要：

Robot easy programming is a keen requirement in GI (General Industrial) company using low skilled people. This paper deals with the problem of a novel active, online, lead- through robot programming method based on a 6-DOF wire- based tracking device, RoboPuppet, with the 3-2-1 configuration. The kinematics analysis of this configuration is addressed by finding analytic expressions for the unique solution of the pose of the RoboPuppet relative to the robot TCP, and estimating the pose error due to the dimension deviations of the wire-based tracking device. Three different control strategies are analyzed for its application in robot easy programming. The time delay in the information transmission is also discussed.

作者: ZHANG Jiafan LI Jinsong QI Liwei ZHANG Dandan

作者单位: ABB Corporate Research China,Shanghai 201319,China

会议类型: 国际会议

会议名称: 2009 IEEE International Conference on Robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

会议地点: 桂林

会议语种:英文

页码: 1591-1596

在线出版日期: 2009-12-19（万方平台首次上网日期，不代表论文的发表时间）