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.


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    Title :

    Path planning of redundant industrial robots for aerospace asembly


    Additional title:

    Wegplanung bei ueberzaehligen Industrierobotern fuer die Montage in der Raumfahrttechnik


    Contributors:
    Derby, S. (author) / Pont, P. du (author)


    Publication date :

    1987


    Size :

    14 Seiten, 9 Bilder, 24 Quellen


    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English





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