Optimal path generation of a (6+1)-axis robot for auto-industrial applications

A detailed analysis of kinematic redundancy and its utilization for path generation for a (6+1)-axis robot is presented. The robot consists of a six-joint GMF A-700 regular robot arm moving on a linear servo-track that is specifically designed for auto-industrial advanced applications. It can be modeled as a seven-joint redundant robot and possesses a one-dimensional null space. The rotational singularity issue is discussed in detail. With a pointing task execution, the robot will create an additional degree of redundancy, which is beneficial for further reduction of rotational singularity occurrence. An algorithm for the inverse kinematic solution considering task priorities is developed. The robot has been implemented in the GM laboratory to enhance the existing ROBOCUT project for full size car-models and painting car-bodies