Skip to main content

Practical Point-to-Point Multiple-Goal Task Realization in a Robot Arm with a Rotating Table

Buy Article:

$55.00 plus tax (Refund Policy)

This study presents a multiple-goal task realization in a system composed of a 6-d.o.f. robot arm and a one-axis rotating table. The problem is complex due to the existence of multiple goals and the kinematic redundancy of the system. We propose a design approach integrating the base placement, task sequencing and motion coordination methods. We show that this approach reduces the task completion time of the robot arm; the motion planning is realized through straight-line paths in the configuration space despite collision occurrences. Furthermore, we introduce a hybrid graph-search method combining the greedy nearest-neighbor method and the Dijkstra method to solve the motion coordination of the robot arm and the table. We show the effectiveness of the design approach and the search method through a time-constrained simulation-based optimization.
No Reference information available - sign in for access.
No Citation information available - sign in for access.
No Supplementary Data.
No Data/Media
No Metrics

Keywords: MANIPULATOR SYSTEM; MULTIPLE-GOAL TASK; PATH PLANNING; WORK CELL OPTIMIZATION

Document Type: Research Article

Affiliations: 1: Research into Artifacts, Center for Engineering, University of Tokyo, 5-1-5 Kashiwanoha, Kashiwa 277-8568, Japan;, Email: [email protected] 2: Faculty of System Design, Tokyo Metropolitan University, 6-6, Asahigaoka, Hino-shi, Tokyo 191-0065, Japan 3: Department of Precision Engineering, Graduate School of Engineering, University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan 4: DENSO WAVE Inc., 1-1 Yoshiike, Kusaki, Agui-cho, Chita-gun, Aichi 470-2297, Japan 5: Research into Artifacts, Center for Engineering, University of Tokyo, 5-1-5 Kashiwanoha, Kashiwa 277-8568, Japan

Publication date: 2011-01-01

  • Access Key
  • Free content
  • Partial Free content
  • New content
  • Open access content
  • Partial Open access content
  • Subscribed content
  • Partial Subscribed content
  • Free trial content
Cookie Policy
X
Cookie Policy
Ingenta Connect website makes use of cookies so as to keep track of data that you have filled in. I am Happy with this Find out more