Abstract
To find an area where the robot can obtain a higher kinematic performance is a meaningful work for path planning and off-line programming. In this paper, a methodology was proposed to determine the high performance area (HPA) of a 6R industrial robot. Monte Carlo method was used to get a point cloud of the reference point of the end effector. The manipulability measure was selected as a performance index to filter the point cloud. A grid was defined to approach the filtered point cloud and its boundary was then extracted and smoothed. An example was presented to show that the proposed methodology is feasible to determine the HPA of a 6R industrial robot.
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Acknowledgements
This work is supported by National Natural Science Foundation of China (Grant Nos. 51205134, 91223201), Science and Technology Program of Guangzhou (Grant No. 2014Y2-00217), Research Project of State Key Laboratory of Mechanical System and Vibration (MSV201405), the Fundamental Research Funds for the Central University (Fund No. 2015ZZ007) and Natural Science Foundation of Guangdong Province (S2013030013355).
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Wang, N., Zhang, Z., Zhang, X. (2017). A Methodology to Determine the High Performance Area of 6R Industrial Robot. In: Huang, Y., Wu, H., Liu, H., Yin, Z. (eds) Intelligent Robotics and Applications. ICIRA 2017. Lecture Notes in Computer Science(), vol 10463. Springer, Cham. https://doi.org/10.1007/978-3-319-65292-4_48
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DOI: https://doi.org/10.1007/978-3-319-65292-4_48
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