11317

Joint Space and Tooling Space for Robot Motion Control

This Demonstration shows the move-joint and move-line methods that are used to control the manipulator trajectory of an industrial robot.
The move-joint method determines the initial and final poses of the planned trajectory, using inverse kinematics. All joint angles move linearly in the joint space (top-left plot). The trajectory of the end effector or tooling center point (TCP) moves along curves in the 3D tooling space (bottom plot).
The move-line method determines all of the end effector or tooling points from the initial and final poses, along a straight line, by inverse kinematics. The trajectory of the TCP moves linearly in the 3D tooling space (bottom plot), but all joint angles do not move linearly in the joint space (top-left plot).

SNAPSHOTS

  • [Snapshot]
  • [Snapshot]
  • [Snapshot]

DETAILS

References
[1] J. Denavit and R. S. Hartenberg, “A Kinematic Notation for Lower-Pair Mechanisms Based on Matrices,” Journal of Applied Mechanics, 22(2), 1955 pp. 215–221.
[2] H. Lipkin, “A Note on Denavit–Hartenberg Notation in Robotics,” in ASME 2005 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, Long Beach, CA, 2005. New York: American Society of Mechanical Engineers, 2005. doi:10.1115/DETC2005-85460.
[3] J. J. Craig, Introduction to Robotics: Mechanics and Control, 3rd ed., Upper Saddle River, NJ: Pearson/Prentice Hall, 2005 pp. 62–82.
[4] B. Siciliano and O. Khatib, eds., Springer Handbook of Robotics, Berlin: Springer–Verlag, 2008.
[5] B. Siciliano, L. Sciavicco, L. Villani and G. Oriolo, Robotics: Modelling, Planning and Control, London: Springer, 2009.
[6] D. L. Pieper, “The Kinematics of Manipulators under Computer Control, (Stanford Artificial Intelligence Laboratory Memo, No. AI-72), Ph.D. dissertation, Computer Science Department, School of Humanities and Sciences, Stanford University, CA, 1968. www.dtic.mil/cgi-bin/GetTRDoc?AD=AD0680036.
[7] M. Raghavan and B. Roth, “Kinematic Analysis of the 6R Manipulator of General Geometry,” in Proceedings of the Fifth International Symposium on Robotics Research (H. Miura, ed.), Cambridge, MA: MIT Press, 1990 pp. 263–269. dl.acm.org/citation.cfm?id=112715&CFID=542850644&CFTOKEN=11490130.
[8] D. Manocha and J. F. Canny, “Efficient Inverse Kinematics for General 6R Manipulators,” IEEE Transactions on Robotics and Automation, 10(5), 1994 pp. 648–657. doi:10.1109/70.326569.
[9] R. N. Jazar, Theory of Applied Robotics: Kinematics Dynamics and Control, 2nd ed., New York: Springer, 2010 pp. 341–363.
[10] UR10/CB3 User Manual, Version 3.1, Denmark Odense: Universal Robots A/S, 2015. (Aug 26, 2016) www.universal-robots.com/media/8755/ur10_user_manual _da _global.pdf.
[11] The URScript Programming Language, Version 3.1, Denmark Odense: Universal Robots A/S, 2015. (Aug 26, 2016) www.sysaxes.com/manuels/scriptmanual_en_ 3.1.pdf.
    • Share:

Embed Interactive Demonstration New!

Just copy and paste this snippet of JavaScript code into your website or blog to put the live Demonstration on your site. More details »

Files require Wolfram CDF Player or Mathematica.









 
RELATED RESOURCES
Mathematica »
The #1 tool for creating Demonstrations
and anything technical.
Wolfram|Alpha »
Explore anything with the first
computational knowledge engine.
MathWorld »
The web's most extensive
mathematics resource.
Course Assistant Apps »
An app for every course—
right in the palm of your hand.
Wolfram Blog »
Read our views on math,
science, and technology.
Computable Document Format »
The format that makes Demonstrations
(and any information) easy to share and
interact with.
STEM Initiative »
Programs & resources for
educators, schools & students.
Computerbasedmath.org »
Join the initiative for modernizing
math education.
Step-by-Step Solutions »
Walk through homework problems one step at a time, with hints to help along the way.
Wolfram Problem Generator »
Unlimited random practice problems and answers with built-in step-by-step solutions. Practice online or make a printable study sheet.
Wolfram Language »
Knowledge-based programming for everyone.
Powered by Wolfram Mathematica © 2017 Wolfram Demonstrations Project & Contributors  |  Terms of Use  |  Privacy Policy  |  RSS Give us your feedback
Note: To run this Demonstration you need Mathematica 7+ or the free Mathematica Player 7EX
Download or upgrade to Mathematica Player 7EX
I already have Mathematica Player or Mathematica 7+