Generation and Simulation of Robot Trajectories in a Virtual CAD-Based Off-Line Programming Environment |
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Authors: | XF Zha H Du |
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Affiliation: | (1) School of Mechanical and Production Engineering, Nanyang Technological Univeristy, Nanyang Avenue, Singapore, SG |
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Abstract: | This paper presents a new approach to the generation and optimisation of the position and orientation trajectories in Cartesian
task space, and simulation in a virtual CAD-based off-line programming environment. A novel concept of the robot pose ruled
surface is proposed, and defined as a motion locus of the robot orientation vector, i.e. the vector of equivalent angular
displacement. The planning for trajectories of robot end-effectors can be accomplished by generating the robot pose ruled
surface and optimising its area under the constraints with good kinematics and dynamics performances. The established optimisation
model is based on functional analysis and dynamics planning, and is simplified by using high-order polynomial space curves
as the robotic position and orientation trajectories. The developed system, RoboSim, is a virtual integrated environment which
can be used as a testbed for automatic motion planning and simulation for robots. Two examples are given to verify the feasibility
of the proposed approach and models, and to demonstrate the capabilities of generation, optimisation, and simulation modules
and libraries in the RoboSim package. The simulation results show that the approach and system are feasible and useful for
motion planning, performance analysis and evaluation, and CAD-based prototyping and off-line programming in both the virtual
and the real design and planning environment. |
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Keywords: | :CAD Motion planning Off‐ line programming Optimisation Performance analysis and evaluation Robot pose ruled surface Trajectory planning virtual prototyping |
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