Closed-form inverse kinematics of 6R milling robot with singularity avoidance |
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Authors: | Wenlei Xiao Henning Strau? Torsten Looh? Hans-Werner Hoffmeister J��rgen Hesselbach |
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Affiliation: | (1) School of Mechanical Engineering and Automation, Beihang University, 100191 Beijing, China;(2) Institute of Machine Tools and Production Technology, TU Braunschweig, Langer Kamp 19b, 38106 Braunschweig, Germany |
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Abstract: | For a 6R milling robot, it is necessary to convert the postprocessing cutter locations (CL) into the robot’s revolute joint
variables. This paper introduces an algorithm for calculating the forward and inverse kinematics of a 6R robot according to
the CL data generated by conventional CAD/CAM systems. A redundant mechanism is analyzed to avoid the singular configurations
and joint limits. The Denavit–Hartenberg (D–H) convention is referred to for developing the forward kinematics, and a closed-form
solution of the inverse kinematics is presented by means of kinematic decoupling. A fundamental approach with modifying factor
for avoiding singularity are developed with regard to three-axis and five-axis CL data. A gap bridging strategy is applied
to reduce the jerk motion caused by tool retraction and cut paths connection. Finally, the result is conducted to simulation
and machining test to verify the algorithms. |
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Keywords: | |
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