Abstract
Reconfigurable industrial robots have tremendous potential to provide broad adaptive capacity to fast changes in market requirements. Nevertheless the reconfigurability concept adds complexity to the modeling of one of the classical but not less important problems in robot manipulators, which is forward kinematics. This paper presents an automated procedure to determine the kinematic parameters of a reconfigurable 6DOF industrial robot as a first step towards the design of a complete reconfigurable control architecture. The efficacy of the proposed approach has been demonstrated on an existing prototype of a reconfigurable anthropomorphic robotic arm developed for the optoelectronic industry.
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Acknowledgments
The research has been partially funded by FP7 EU Project “white’R white room based on Reconfigurable robotic Island for optoelectronics”.
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Avram, O., Valente, A. (2016). A Regenerative Approach to Dynamically Design the Forward Kinematics for an Industrial Reconfigurable Anthropomorphic Robotic Arm. In: Bassis, S., Esposito, A., Morabito, F., Pasero, E. (eds) Advances in Neural Networks. WIRN 2015. Smart Innovation, Systems and Technologies, vol 54. Springer, Cham. https://doi.org/10.1007/978-3-319-33747-0_43
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DOI: https://doi.org/10.1007/978-3-319-33747-0_43
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