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Specific computation of inverse kinematics in a robot off-line programming environment

Published online by Cambridge University Press:  09 March 2009

Jean - Philippe Cassar  and
Philippe Vanheeghe
Jean - Philippe Cassar
Affiliation:
Institut Supérieur d'electronique du Nord, 41 Boulevard Vauban, 59046 Lille Cedex (France)
Philippe Vanheeghe
Affiliation:
Institut Supérieur d'electronique du Nord, 41 Boulevard Vauban, 59046 Lille Cedex (France)
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Summary

An off-line programming station for a robotised welding cell is presented. In this context the choice of a kinematic inversion method applied to the simulation of robots is discussed.

A direct inversion method is developed in the case of 5-axes robots of plane geometry and for a task presenting a symmetry of revolution. It uses the geometry of the tool and of the robot and vectorial calculations very well adapted to this particular case. The results presented validate the choice of this method for a specialised programming environment.

Keywords

RobotOff-line programmingInverse kinematics
Type
Research Article
Information
Robotica , Volume 7 , Issue 1 , January 1989 , pp. 65 - 69
Copyright
Copyright © Cambridge University Press 1989

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