Generation of a Robot Program and Determination of an Optimal Workpiece Placement
Considering the Manipulability of Industrial Robots
Kei Moriguchi, Takuya Mizokami and Koichi Morishige
International Journal of Automation Technology, Vol.16, No.6, pp.870-878 (2022.11)
Various operations in the production sites of manufacturing
industries are being automated using industrial
robots instead of operators. In recent years, an offline
teaching method for robot motion has been implemented,
where programs are generated in a work
environment that is reproduced virtually inside a computer.
However, the robot program developed using
the offline teaching method can pass through singularities
or suddenly change the robotfs posture, making
the robot incapable of performing safe operations.
To achieve optimal operation, the operator must determine
the workpiece placement and create a robot
program through trial and error. In this study, we
proposed a method that uses manipulability to generate
a program that commands the robot to move
without passing singularities or changing the robotfs
posture. Manipulability is quantitatively evaluated as
an indicator of a robotfs ability to move its end effector
in arbitrary directions. We proposed another
method to determine the optimal workpiece placement
for robot operations that can maximize the sum of manipulability
during the operation. We implemented
the aforementioned methods in an offline teaching system.
We applied the developed system to a welding
operation and verified its effectiveness by conducting
motion simulations. The developed system was able
to generate a practical robot program that maintained
high manipulability and did not cause sudden changes
in the posture or pass singularities. The developed system
was able to simultaneously determine the optimal
workpiece placement for the task, thereby confirming
the usefulness of the proposed method.
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