Generation of a Robot Program and Determination of an Optimal Workpiece Placement Considering the Manipulability of Industrial Robots

• DOI: 10.20965/ijat.2022.p0870
• Publication Date: 2022-11-04T15:02:16Z
• Authors: Kei Moriguchi; Takuya Mizokami; Koichi Morishige
• Keywords: Robot end effector; Industrial robot; Arm solution

Various operations in the production sites of manufacturing industries are being automated using industrial robots instead operators. In recent years, an offline teaching method for robot motion has been implemented, where programs generated a work environment that is reproduced virtually inside computer. However, program developed can pass through singularities or suddenly change robot’s posture, making incapable performing safe operations. To achieve optimal operation, operator must determine workpiece placement and create trial error. this study, we proposed uses manipulability to generate commands move without passing changing posture. Manipulability quantitatively evaluated as indicator ability its end effector arbitrary directions. We another maximize sum during operation. implemented aforementioned methods system. applied system welding operation verified effectiveness by conducting simulations. The was able practical maintained high did not cause sudden changes posture singularities. simultaneously task, thereby confirming usefulness method.