Existing six-jointed robots used in the assembly of aerospace structures may lack sufficient mobility to access fixtures and fabricated parts. Redundant robots, those with seven or more joints, offer the additional flexibility to properly maneuver around such obstacles. This paper discusses the benefits of redundant robot usage as well as the added complexity of programming and determining a reasonable path for a robot. The additional joint creates a numerical unknown that requires additional expressions to solve the system of equations. When planning a possible robot trajectory, this gives options similar to a human arm.
Path planning of redundant industrial robots for aerospace asembly
Wegplanung bei ueberzaehligen Industrierobotern fuer die Montage in der Raumfahrttechnik
Technical Paper. Society of Manufacturing Engineers ; Oct ; 1-14
1987
14 Seiten, 9 Bilder, 24 Quellen
Aufsatz (Konferenz)
Englisch
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