Kinematic analysis of a 6-DOF wire-based tracking device and control strategy for its application in robot easy programming

Author

Zhang Jiafan ; Jinsong, Li ; Liwei, Qi ; Dandan, Zhang

Author_Institution

ABB Corp. Res. China, Shanghai, China

fYear

2009

Firstpage

1591

Lastpage

1596

Abstract

Robot easy programming is a keen requirement in GI (General Industrial) company using low skilled people. This paper deals with the problem of a novel active, online, lead-through robot programming method based on a 6-DOF wire-based tracking device, RoboPuppet, with the 3-2-1 configuration. The kinematics analysis of this configuration is addressed by finding analytic expressions for the unique solution of the pose of the RoboPuppet relative to the robot TCP, and estimating the pose error due to the dimension deviations of the wire-based tracking device. Three different control strategies are analyzed for its application in robot easy programming. The time delay in the information transmission is also discussed.

Keywords

industrial robots; position control; robot kinematics; robot programming; tracking; velocity control; 6-DOF wire-based tracking device; RoboPuppet; general industrial company; information transmission; kinematic analysis; low skilled people; pose error estimation; position control; robot easy programming; time delay; velocity control; Education; Educational robots; Kinematics; Orbital robotics; Painting; Robot programming; Robot sensing systems; Robotic assembly; Robotics and automation; Service robots;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Biomimetics (ROBIO), 2009 IEEE International Conference on

Conference_Location

Guilin

Print_ISBN

978-1-4244-4774-9

Electronic_ISBN

978-1-4244-4775-6

Type

conf

DOI

10.1109/ROBIO.2009.5420394

Filename

5420394