THE PATH PLANNING OF INDUSTRIAL ROBOTS USING POLYNOMIAL INTERPOLATION, WITH APPLICATIONS TO FANUC LR-Mate 100iB

Ovidiu Aurelian DETEŞAN

Abstract


The objective of this paper is to describe the path planning of industrial robots, using polynomial interpolation functions, applied on the robot Fanuc LR-Mate 100iB, implemented in a demonstrative technological process. In the presented paper the (4-3-4) method is used, implemented into a MATLAB function. This function is called from the script file FANUC_planning.m for each joint and each phase the technological process is divided in. In order to determine the polynomial coefficients, the analyzed phase is divided also into an initial segment, a final segment and at least one intermediate segment. After solving a system of minimum seven equations with the same number of unknowns, the time variation polynomial functions yield, for coordinates, velocities and accelerations from each of the robot joints.

Key words: serial robot, path planning, (4-3-4) method, interpolation, MATLAB.


Full Text:

PDF

References


Angeles, J., Fundamentals of Robotic Mechanical Systems. Theory, Methods, and Algorithms, Springer-Verlag New York, Inc., 2003, ISBN 00-387-95368-X.

Avidemux wiki documentation, http://www. avidemux.org/admWiki/doku.php, visited on 2013-09-23

Deteşan, O.A., Cercetări privind modelarea, simularea şi construcţia miniroboţilor, Ph.D. Thesis, U.T.C.N., Cluj-Napoca, 2007.

Deteşan, O.A., Ispas, Vrg., The Kinematic Modelling of the Robot Mechanical Structure Using the Symbolic Computation in Matlab, Annals of DAAAM for 2009 & Proceedings of 20th DAAAM International Symposium “Intelligent Manufacturing & Automation: Theory, Practice & Education”, Viena, 2009, ISSN 1726-9679.

FANUC Robot Series, R-J3iB Mate Controller, LR Handling Tool, Operator's Manual, B81524EN/02, 2006.

Negrean, I., Vuşcan, I., Haiduc, N., Robotics. Kinematic and Dynamic Modelling, Bucureşti, Editura Didactică şi Pedagogică, 1998, ISBN 973-30-5309-8.

Negrean, I., Duca, A., Negrean, C., Kacso, K., Mecanică avansată în robotică, Cluj-Napoca, UT Press, 2008, ISBN 978-973-662-420-9.


Refbacks

  • There are currently no refbacks.


JOURNAL INDEXED IN :