Exploiting task redundancy in industrial manipulators during drilling operations

摘要：

A drilling task requires a mechanism with five degrees of freedom, in order to achieve the correct position and orientation of the drilling tool. When performed with a standard 6-axes industrial robot, this task leaves an extra degree of freedom that can be exploited in order to achieve any additional criterion. Unfortunately, typical industrial robotic control architectures do not allow the user to modify the inverse kinematics algorithm, and thus to solve task redundancy following any specified criterion. In this paper a method to enforce an arbitrary redundancy resolution criterion on top of an industrial robot controller is discussed and applied to the execution of a drilling task. The extra degree of freedom is used to perform a torque-effective drilling. Experimental results achieved on the ABB IRB 140 industrial robot are presented.

作者: Andrea Maria Zanchettin Paolo Rocco Anders Robertsson Rolf Johansson

作者单位: Dipartimento di Elettronica e Informazione,Politecnico di Milano,Piazza L. Da Vinci 32,20133,Milano, Department of Automatic Control,Lund University,PO Box 118,SE-221 00 Lund,Sweden

会议类型: 国际会议

会议名称: 2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

会议地点: 上海

会议语种:英文

页码: 128-133

在线出版日期: 2011-05-09（万方平台首次上网日期，不代表论文的发表时间）