| Title: | Workpiece placement optimization for robot machining based on the evaluation of feasible kinematic directional capabilities |
|---|
| Authors: | ID Stradovnik, Saša (Author)
ID Hace, Aleš (Author) |
|---|
| Files: |  applsci-14-01531-v2.pdf (5,96 MB)
MD5: E6BB7B3D1AD19198F9CE06B7F58FE791
 https://www.mdpi.com/2076-3417/14/4/1531
|
|---|
| Language: | English |
|---|
| Work type: | Article |
|---|
| Typology: | 1.01 - Original Scientific Article |
|---|
| Organization: | FERI - Faculty of Electrical Engineering and Computer Science
|
|---|
| Abstract: | Workpiece placement plays a crucial role when performing complex surface machining task robotically. If the feasibility of a robotic task needs to be guaranteed, the maximum available capabilities should be higher than the joint capabilities required for task execution. This can be challenging, especially when performing a complex surface machining task with a collaborative robot, which tend to have lower motion capabilities than conventional industrial robots. Therefore, the kinematic and dynamic capabilities within the robot workspace should be evaluated prior to task execution and optimized considering specific task requirements. In order to estimate maximum directional kinematic capabilities considering the requirements of the surface machining task in a physically consistent and accurate way, the Decomposed Twist Feasibility (DTF) method will be used in this paper. Estimation of the total kinematic performance capabilities can be determined accurately and simply using this method, adjusted specifically for robotic surface machining purposes. In this study, we present the numerical results that prove the effectiveness of the DTF method in identifying the optimal placement of predetermined machining tasks within the robot’s workspace that requires lowest possible joint velocities for task execution. These findings highlight the practicality of the DTF method in enhancing the feasibility of complex robotic surface machining operations. |
|---|
| Keywords: | workpiece placement optimization, robotic surface machining, feasible kinematic directional capabilities, decomposed twist feasibility (DTF) method, manipulability, non-linear optimization |
|---|
| Publication status: | Published |
|---|
| Publication version: | Version of Record |
|---|
| Submitted for review: | 01.12.2023 |
|---|
| Article acceptance date: | 10.02.2024 |
|---|
| Publication date: | 14.02.2024 |
|---|
| Publisher: | MDPI |
|---|
| Year of publishing: | 2024 |
|---|
| Number of pages: | 18 str. |
|---|
| Numbering: | Vol. 14, iss. 4, [article no.] 1531 |
|---|
| PID: | 20.500.12556/DKUM-89786  |
|---|
| UDC: | 007.52 |
|---|
| ISSN on article: | 2076-3417 |
|---|
| COBISS.SI-ID: | 185701379 |
|---|
| DOI: | 10.3390/app14041531 |
|---|
| Copyright: | © 2024 by the authors |
|---|
| Publication date in DKUM: | 12.08.2024 |
|---|
| Views: | 247 |
|---|
| Downloads: | 72 |
|---|
| Metadata: |    |
|---|
| Categories: | Misc.
|
|---|
|
:
|
Copy citation |
|---|
| | | | Average score: | (0 votes) |
|---|
| Your score: | Voting is allowed only for logged in users. |
|---|
| Share: |  |
|---|
Hover the mouse pointer over a document title to show the abstract or click
on the title to get all document metadata. |
