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DINAME 2017
XVII International Symposium on Dynamic Problems of Mechanics
An Algorithm to Improve the Rigidity on the Motion Planning of a Robotic Mechanism
Submission Author:
Diego Gabriel Gomes Rosa , RJ , Brazil
Co-Authors:
Diego Gabriel Gomes Rosa, José Flávio Silveira Feiteira
Presenter: Diego Gabriel Gomes Rosa
doi://10.26678/ABCM.DINAME2017.DIN17-0020
Abstract
This paper deals with trajectory optimization for manipulators. In general robotic applications, some algorithms can be adopted to recognize the minimal joint movements, to avoid points of singularity or to find the minimal power consumption during a trajectory execution. However, in some tasks other strategies might be used, for instance, when it is necessary to place the robot in a joint configuration that permits the execution of more rigid and accurate movements, such as in machining operations. By remembering that a robotic arm can assume various joint positions to complete a task, it is expected that only a few of these configurations will provide higher results. Therefore, the use of a strategy to find these optimized configurations can support on the tasks accomplishing. This way, the main goal of this work is to develop an algorithm that can improve the motion rigidity of a robotic mechanism, by using the dynamics of a robotic arm. This paper is divided in two parts: firstly, a simplified and functional algorithm is developed for a two link robotic arm. From this algorithm, a graphical analysis is proposed, based on the implementation of a performance index and the creation of a surface for torque evaluation. Then, the developed theory is extended to a typical industrial robot and optimal robot postures can be found for real case operations.
Keywords
Dynamic rigidity, performance index, robot interaction, Trajectory optimization
