Title :
A unified optimization approach for a (6+1)-axis robot system
Author :
Chen, Yilong ; Gu, You-Liang
Author_Institution :
Dept. of Math., Gen. Motors Res. Labs., Warren, MI, USA
Abstract :
A (6+1)-axis robot consists of a 6-joint GMF S-700 regular robot arm moving on a linear servo-track that is specifically designed for auto-industrial advanced applications. Kinematically, it is modeled as a seven-joint redundant robot with a one-dimensional null space. A new algorithm of the inverse kinematic solution is developed to provide a unified approach to the realization of major local optimization methods. The (6+1)-axis robot has been implemented in GM laboratory to enhance flexibility and effectiveness of the existing ROBOCUT system for full-size car-model cutting as well as car-body painting
Keywords :
automobile industry; industrial control; industrial manipulators; inverse problems; manipulator kinematics; optimisation; redundancy; (6+1)-axis robot system; 1D null space; 6-joint GMF S-700 regular robot arm; GM laboratory; ROBOCUT system; auto-industrial advanced applications; car-body painting; full-size car-model cutting; inverse kinematic solution; linear servo-track; seven-joint redundant robot; unified optimization approach; Kinematics; Null space; Optimization methods; Orbital robotics; Painting; Research and development; Robotic assembly; Robots; Space technology; Vehicles;
Conference_Titel :
Systems, Man and Cybernetics, 1993. 'Systems Engineering in the Service of Humans', Conference Proceedings., International Conference on
Conference_Location :
Le Touquet
Print_ISBN :
0-7803-0911-1
DOI :
10.1109/ICSMC.1993.390773
