[1]HU Mingwei,WANG Hongguang,PAN Xinan,et al.Analysis and simulation on kinematics performance of a collaborative robot[J].CAAI Transactions on Intelligent Systems,2017,12(1):75-81.[doi:10.11992/tis.201604018]
Copy

Analysis and simulation on kinematics performance of a collaborative robot

CAAI Transactions on Intelligent Systems[ISSN 1673-4785/CN 23-1538/TP] Volume: 12 Number of periods: 2017 1 Page number: 75-81 Column: 学术论文—智能系统 Public date: 2017-02-25
Title:
Analysis and simulation on kinematics performance of a collaborative robot
Author(s):
HU Mingwei1; 2;  WANG Hongguang1;  PAN Xin’an1;  TIAN Yong1; 2;  CHANG Yong1
1. State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China;
2. University of Chinese Academy of Sciences, Beijing 110049, China
Keywords:
LBR iiwa; collaborative Robots; flexibility; manipulability; narrow workspace; trajectory planning
CLC:
TP241
DOI:
10.11992/tis.201604018
Abstract:
With the revolution of manufacturing mode, the application of collaborative robot in industry is becoming increasingly widespread. This paper introduces the characteristics of collaborative robot and analyzes the kinematics performance of KUKA LBR iiwa which is the typical representative of collaborative robots. The aim of this work is to provide design theory basis for developing this kind of robot. The robot kinematic model is established by Denavit-Hartenberg method. Based on Monte-Carlo method, the flexibility and manipulability of robot are analyzed in MATLAB environment. The trajectory of robot working in narrow workspace is planned, simulation results show that LBR iiwa has good flexibility, manipulability and obstacle avoidance ability.
References:
[1] IFR Statistical Department. Global survey: human-robot teams capturing new sectors[EB/OL]. Germany: IFR, (2014-12-02)[2015-10-18]. http://www.ifr.org/news/ifr-press-release/global-survey-human-robot-teams-capturing-new-sectors-670/.
[2] HANSON K.Collaborative robots lend a helping hand[EB/OL].USA:CTE Publications,(2015-01-01)[2015-10-18]. https://www.ctemag.com/news-videos/articles/collaborative-robots-lend-helping-hand.
[3] OSTERGAARD E. Lightweight robot for everybody[J]. IEEE robotics & automation magazine, 2012, 19(4): 17-18.
[4] BARRETTE M B. Collaborative robot ebook[EB/OL]. Canada:Robotiq,(2015-04-09)[2015-10-18].http://robotiq.com/resource-c-enter/ebooks/.
[5] American National Standards Institute. ANSI/RIA R15.06-2012, Industrial robots and robot systems-safety requirements[S]. American: ANSI, 2012.
[6] PILZ T. Guide to industry acceptance with the new “ISO TS 15066-collaborative robots” standard[C]//Proceedings of 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems. Hamburg, Germany: IEEE, 2015.
[7] MATTHIAS B. New safety standards for collaborative robots, ABB YuMi dual-arm robot[C]//Proceedings of 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems. Hamburg, Germany: IEEE, 2015.
[8] TSAI Y C, SONI A H. Workspace synthesis of 3R, 4R, 5R and 6R robots[J]. Mechanism and machine theory, 1985, 20(6): 555-563.
[9] 周东辉. 冗余度机器人机构学研究[D]. 北京: 北京航空航天大学机器人研究所, 1994. ZHOU Donghui. On the mechanism study of redundant robots[D]. Beijing: Graduate School of Beihang University, 1994.
[10] 赵占芳. 机器人冗余特性和力控制研究[D]. 北京: 北京航天航空大学研究生院, 1991. ZHAO Zhanfang. Redundancy and force control of robot manipulators[D]. Beijing: Graduate School of Beihang University, 1991.
[11] 归彤, 原培章. 7自由度机器人的图谱问题[J]. 机器人, 1991, 13(4): 27-30. GUI Tong, YUAN Peizhang. An atlas of 7-DOF robot manipulators[J]. Robot, 1991, 13(4): 27-30.
[12] HUO Xijian, LIU Yiwei, JIANG Li, et al. Design and development of a 7-DOF humanoid arm[C]//Proceedings of the 2012 IEEE International Conference on Robotics and Biomimetics. Guangzhou, China, 2012: 277-282.
[13] SALISBURY J K, CRAIG J J. Articulated hands: force control and kinematic issues[J]. The international journal of robotics research, 1982, 1(1): 4-17.
[14] YOSHIKAWA T. Manipulability of robotic mechanisms[J]. The international journal of robotics research, 1985, 4(2): 3-9.
[15] 蔡蒂, 谢存禧, 张铁, 等. 基于蒙特卡洛法的喷涂机器人工作空间分析及仿真[J]. 机械设计与制造, 2009(3): 161-162. CAI Di, XIE Cunxi, ZHANG Tie, et al. Study on workspace analysis and simulation of 6-DOF painting robot based on Monte-Carlo method[J]. Machinery design & manufacture, 2009(3): 161-162.
[16] CORKE P. Robotics, vision and control: fundamental algorithms in MATLAB[M]. Berlin Heidelberg, Germany: Springer, 2011: 135-160.
Similar References:

Memo

-

Last Update: 1900-01-01

Copyright © CAAI Transactions on Intelligent Systems