سال انتشار: ۱۳۸۶
محل انتشار: دومین کنفرانس بین المللی و هشتمین کنفرانس ملی مهندسی ساخت و تولید
تعداد صفحات: ۸
M . Korayem – ProfessorMechanical Engineering Department, Iran University of Science and Technology (IUST), Tehran, Iran
M Esmaeili M. A – M. S. student of Mechatronics at IUST
One of the main problems in implementing the robots in industry can be mentioned as the need of permitting robot motion to be modified continuously as the manipulator is traversing along a taught trajectory. An innovative method is developed in this paper to approach this goal. Working in the joint space, the path shapes (in space and time) is described in terms of functions of joint angles. An inductive sensor is located on the manipulator’s end-effector to indicate the position of the desired trajectory. By applying the inverse kinematics, these positions would be converted into a set of desired joint angles. Then a smooth function is found for each of the 6 joints which pass through the intermediate via pointsand end at the goal point. As the advantages of this method, reasonability, being easily implemented and compatible with most of the robots.