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.


    Zugriff

    Zugriff über TIB

    Verfügbarkeit in meiner Bibliothek prüfen


    Exportieren, teilen und zitieren



    Titel :

    Path planning of redundant industrial robots for aerospace asembly


    Weitere Titelangaben:

    Wegplanung bei ueberzaehligen Industrierobotern fuer die Montage in der Raumfahrttechnik


    Beteiligte:
    Derby, S. (Autor:in) / Pont, P. du (Autor:in)


    Erscheinungsdatum :

    1987


    Format / Umfang :

    14 Seiten, 9 Bilder, 24 Quellen


    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Print


    Sprache :

    Englisch





    BICYCLE SPROCKET AND MULTIPLE BICYCLE SPROCKET ASEMBLY

    SUGIMOTO AKINOBU / HIROSE YUKI | Europäisches Patentamt | 2017

    Freier Zugriff

    Continuous-path testing of aerospace robots

    Arnold, G. Rockwell In | Tema Archiv | 1986


    Path planning for redundant manipulators

    McLear, A. W. | TIBKAT | 1996