Resolution of Functional Redundancy for 3T2R Robot Tasks using Two Sets of Reciprocal Euler Angles

verfasst von

Moritz Schappler, Svenja Tappe, Tobias Ortmaier

Abstract

Robotic tasks like welding or drilling with three translational and only two rotational degrees of freedom (“3T2R”) are of high industrial relevance but are rather scarcely addressed in scientific publications. Existing solutions for the resolution of the functional redundancy of robotic manipulators with more than five axes performing these tasks either expand the full kinematic formulation or reduce it in intermediate steps. This paper presents an approach to reduce the kinematic formulation from the start to solve the problem in a simpler way. This is done by using a set of reciprocal Euler angles to describe the end-effector orientation and the orientation error in inverse kinematics.

Organisationseinheit(en)

Institut für Mechatronische Systeme

Typ

Aufsatz in Konferenzband

Seiten

1701-1710

Anzahl der Seiten

10

Publikationsdatum

14.06.2019

Publikationsstatus

Veröffentlicht

Peer-reviewed

Ja

ASJC Scopus Sachgebiete

Werkstoffmechanik, Maschinenbau

Elektronische Version(en)

https://doi.org/10.15488/10210 (Zugang: Offen)
https://doi.org/10.1007/978-3-030-20131-9_168 (Zugang: Geschlossen)