| Title: | Task-oriented evaluation of the feasible kinematic directional capabilities for robot machining |
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| Authors: | ID Stradovnik, Saša (Author)
ID Hace, Aleš (Author) |
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| Files: |  sensors-22-04267-v3.pdf (9,47 MB)
MD5: F7E9F4491FA2D89F44C4711AAD366992
 https://www.mdpi.com/1424-8220/22/11/4267
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| Language: | English |
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| Work type: | Article |
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| Typology: | 1.01 - Original Scientific Article |
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| Organization: | FERI - Faculty of Electrical Engineering and Computer Science
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| Abstract: | Performing the machining of complex surfaces can be a challenging task for a robot, especially in terms of collaborative robotics, where the available motion capabilities are greatly reduced
in comparison with conventional industrial robot arms. It is necessary to evaluate these capabilities
prior to task execution, for which we need efficient algorithms, especially in the case of flexible
robot applications. To provide accurate and physically consistent information about the maximum
kinematic capabilities while considering the requirements of the task, an approach called the Decomposed Twist Feasibility (DTF) method is proposed in this study. The evaluation of the maximum
feasible end-effector velocity is based on the idea of decomposition into the linear and angular motion
capabilities, considering a typical robot machining task with synchronous linear and angular motion.
The proposed DTF method is presented by the well-known manipulability polytope concept. Unlike
the existing methods that estimate the kinematic performance capabilities in arbitrarily weighted
twist space, or separately in the translation and the rotation subspace, our approach offers an accurate
and simple solution for the determination of the total kinematic performance capabilities, which is
often highly required, especially in the case of robot machining tasks. The numerical results obtained
in this study show the effectiveness of the proposed approach. Moreover, the proposed DTF method
could represent suitable kinematic performance criteria for the optimal placement of predefined tasks
within the robot workspace |
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| Keywords: | robot surface machining, task feasibility, task-dependent kinematic capability, kinematic performance evaluation, manipulability index, manipulability polytope, motion decomposition, Decomposed Twist Feasibility method, DTF method |
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| Publication status: | Published |
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| Publication version: | Version of Record |
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| Submitted for review: | 26.04.2022 |
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| Article acceptance date: | 01.06.2022 |
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| Publication date: | 03.06.2022 |
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| Publisher: | MDPI AG |
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| Year of publishing: | 2022 |
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| Number of pages: | 25 str. |
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| Numbering: | Vol. 22, iss. 11 |
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| PID: | 20.500.12556/DKUM-92351  |
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| UDC: | 007.52 |
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| ISSN on article: | 1424-8220 |
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| COBISS.SI-ID: | 110633219 |
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| DOI: | 10.3390/s22114267 |
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| Copyright: | © 2022 by the authors. |
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| Publication date in DKUM: | 01.04.2025 |
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| Views: | 135 |
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| Downloads: | 9 |
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| Metadata: |    |
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| Categories: | Misc.
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