Please use this identifier to cite or link to this item: http://scholarbank.nus.edu.sg/handle/10635/34543
Title: ROBOT PROGRAMMING AND TRAJECTORY PLANNING USING AUGMENTED REALITY
Authors: FANG HONGCHAO
Keywords: Robot programming, Trajectory planning, Augmented Reality, Human-robot interaction, Simulation, Log-barrier method
Issue Date: 5-Jan-2012
Source: FANG HONGCHAO (2012-01-05). ROBOT PROGRAMMING AND TRAJECTORY PLANNING USING AUGMENTED REALITY. ScholarBank@NUS Repository.
Abstract: This study presented an application of Augmented Reality in Robot Programming (RPAR-II) for path planning and end-effector orientation planning, where the planned trajectories can be transformed into robot controller codes. The approach for path planning concerned with robotic Point-to-Point operations, i.e., to find a suitable path between the start and goal configurations. A Euclidean-based method was developed for the selection and modification of via-points of interest. A time-optimal trajectory was obtained incorporating robot dynamics, which can be transformed into task-optimized executable robot paths. The approach for robot End-effector orientation planning mainly concerned with continuous path-following operations where the End-effector is constrained to follow a path on a workpiece at permissible inclination angles. It allowed the users to select a sequence of control points on the curve and specify the End-effector orientations. A scheme was developed to facilitate orientation modification such that the ruled surface generated can be adjusted interactively.
URI: http://scholarbank.nus.edu.sg/handle/10635/34543
Appears in Collections:Ph.D Theses (Open)

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