Abstract
In modern work units, industrial robots have been widely utilized to perform various operations, like welding, assembly and carrying etc. Facing a fixed operating space, how to determine the initial standing pose of the robot has been a significant problem for real applications, which will largely affect the robotic flexibility to arrive operating targets. For this problem, this work presented a spatial layout method of the robot relative to the known operating space through the workspace simulation of the robot based on screw theory and Monte Carlo method. In this method, the feature of the robotic workspace is analyzed based on the simulation, based on which the workspace volume is modeled and optimized considering the size of the operating tool. During the layout, layout variables, including translation distances in three axial directions and the rotational angle about the z axis of the robotic origin base frame, are modeled relative to the known operating space. The effectiveness of the proposed method is validated using a simulation example. Results show that the flexible workspace of the robot can better contain the known operating space after the adjustment of the robotic standing pose. This method will provide an important theoretical foundation for the real layout of work units.
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Acknowledgement
This work was supported by National Natural Science Foundation of China (51805012); National Science and Technology Major Project (2018ZX04032002); Beijing Postdoctoral Foundation Class A of China(No. Q6001211202101 and No. 6001211202102); Beijing Nova Programme Interdisciplinary Cooperation Project (Z191100001119010).
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Wang, J., Li, L., Liu, Z., Xu, J., Yang, C., Cheng, Q. (2021). A Spatial Layout Method of Robots Relative to Operating Space Based on Its Flexible Workspace Simulation. In: Liu, XJ., Nie, Z., Yu, J., Xie, F., Song, R. (eds) Intelligent Robotics and Applications. ICIRA 2021. Lecture Notes in Computer Science(), vol 13013. Springer, Cham. https://doi.org/10.1007/978-3-030-89095-7_1
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DOI: https://doi.org/10.1007/978-3-030-89095-7_1
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