• SME MS900699
Provide PDF Format

Learn More

SME MS900699

  • Generic Path Control For Robot Applications
  • standard by Society of Manufacturing Engineers, 06/01/1990
  • Publisher: SME

$9.00$18.00


THIS PAPER OUTLINES A GENERIC METHODOLOGY TO SYNTHESIZE SMOOTH ROBOT END EFFECTOR PATHS FROM POINT-TO-POINT INPUT. THE PATH IS GENERATED AS A DENSE SEQUENCE OF POINTS WHICH SPAN A SPARSE INPUT SEQUENCE OF TAUGHT POINTS. A CODE PROGRAMMED WITH EACH INPUT POINT ALLOWS THE USER TO INFLUENCE PATH GEOMETRY, PROVIDING FLEXIBILITY TO PERMIT TRACKING OF SEAMS OR EDGES. COMPARED WITH CUBIC SPLINES, THIS METHOD REDUCES COMPUTING TIME, GIVES MORE CONTROL OVER PATH GEOMETRY, AND SIMPLIFIES EDITING. IT EXPLICITLY DETERMINES CURVILINEAR DISTANCE ALONG THE PATH, TO FACILITATE VELOCITY CONTROL. USE OF CONFORMAL ROTATION VECTORS (RELATED TO QUATERNIONS) AVOIDS THE MATHEMATICAL SINGULARITY THAT EXISTS WITH EULER ANGLES, THUS HELPING TO MAINTAIN PROPER TOOL ORIENTATION RELATIVE TO WORKPIECE SURFACE AND TOOL TIP TRAJECTORY. THE ALGORITHMS ARE SUPPORTED BY A USER INTERFACE THAT PROVIDES A MENU-DRIVEN PENDAN

Related Products

SME MS900320

SME MS900320

A Replicated Self-Coupling Hydrostatic Leadscrew For Sub-Micron Applications..

$9.00 $18.00

SME EM94-109

SME EM94-109

Invar--Truths And Rumors..

$9.00 $18.00

SME MS98-264

SME MS98-264

A Model For The Prediction Of Reaction Forces In A 3-2-1 Machining Fixture..

$9.00 $18.00

SME MS920176

SME MS920176

Inspection Of High Speed Webs--(Technology Advances)..

$9.00 $18.00