| Title: | OS13-6 Research on Trajectory Planning Problem of Robot in Spherical Cutting |
|---|---|
| Publication: | ICAROB2019 |
| Volume: | 24 |
| Pages: | 358-369 |
| ISSN: | 2188-7829 |
| DOI: | 10.5954/ICAROB.2019.OS13-6 |
| Author(s): | Min Jun, Jiang Wenping, Zhao Huailin |
| Publication Date: | January 10, 2019 |
| Keywords: | spherical surface, Kinematics, cylindrical shape, cutting, Trajectory planning, robo |
| Abstract: | For cylindrical shape cutting of spherical surface vessel a kind of 5-DOF cutting method of cylindrical shape for spherical surface is provided in this paper. Based on the kinematics model of cutting robotthe mathematic relations between cutting tool cylindrical shape and spherical surface are built using Eulertransformation and the intersection line model of cylindrical and spherical surface is presented. The roboticcutting trajectory is computed according to the position and attitude relation of robot and spherical sphereand simulations and experiments of cutting trajectory for robot are provided in the end. Experiments resultsverified the rightness of robot kinematics and cylindrical shape cutting algorithm,and will promote the robot-is application in cutting field. |
| PDF File: | https://alife-robotics.co.jp/members2019/icarob/data/html/data/OS_pdf/OS13/OS13-6.pdf |
| Copyright: | © The authors. This article is distributed under the terms of the Creative Commons Attribution License 4.0, which permits non-commercial use, distribution and reproduction in any medium, provided the original work is properly cited. See for details: https://creativecommons.org/licenses/by-nc/4.0/ |
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