STRUCTURE OF A SENSOR-BASED PATH CONTROL FOR AN INDUSTRIAL ROBOT

The architecture of a sensor-based path control for a six-degree-of-freedom industrial robot is developed as a multilayer model. The particular layers reflect the logical structure of the path control and represent levels of increasing abstraction. The corresponding tasks assigned to these levels, start with kinematic dependent tasks like inverse transformations and lead to pure logical trajectory generation and sensor integration. Special attention is given to the solution of kinematic problems arising from robot wrist degeneracy. For these degenerated wrist positions a new inverse transformation is presented, which allows moving through the critical regions of degeneracy on continuous path. Finally a short overview is given on the implementation and on practical experiences with the industrial robot Volkswagen G 60.

• Supplemental Notes:
  • ISATA 84, "In Pursuit of Technical Excellence". Proceedings Volume 2. International Symposium on Automotive Technology and Automation with particular reference to Vehicle Management Systems and Flexible Manufacturing Systems Milan, Italy 24-28 September 1984.
• Corporate Authors:

  Automotive Automotion Limited

  42 Lloyd Park Avenue
  Croydon CRO 5SB, Surrey,   England 

  Alfa Romeo Auto SpA

  Milan,   Italy 
• Authors:
  • Mehner, F
• Publication Date: 1984

Subject/Index Terms

• TRT Terms: Automobile industry; Control systems; Kinematics; Manufacturing; Robots; Sensors
• Subject Areas: Safety and Human Factors; Vehicles and Equipment;

Filing Info

• Accession Number: 00399981
• Record Type: Publication
• Source Agency: National Highway Traffic Safety Administration
• Report/Paper Numbers: ISATA 84107, HS-038 521
• Files: HSL, USDOT
• Created Date: Nov 30 1985 12:00AM