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Title: Orientation planning of robot end-effector using augmented reality
Authors: Fang, H.C.
Ong, S.K. 
Nee, A.Y.C. 
Keywords: Augmented reality
End-effector orientation planning
Human-robot interaction
Robot programming
Issue Date: 2013
Citation: Fang, H.C., Ong, S.K., Nee, A.Y.C. (2013). Orientation planning of robot end-effector using augmented reality. International Journal of Advanced Manufacturing Technology 67 (9-12) : 2033-2049. ScholarBank@NUS Repository.
Abstract: This paper presents a methodology for planning the orientation of the end-effector for an industrial robot based on the application of augmented reality. The targeted applications are those where the end-effector is constrained to follow a visible path, which position and model are unknown, at suitable inclination angles with respect to the path. The proposed approach enables the users to create a list of control points interactively on a parameterized curve model, define the orientation of the end-effector associated with each control point, and generate a ruled surface representing the path to be planned. An approximated timeoptimal trajectory, which is a determined subject to robot actuators and joint velocity constraints using convex optimization techniques, is implemented to simulate a virtual robot, allowing the users to visually evaluate the trajectory planning process. A case study is presented and discussed. © Springer-Verlag London 2012.
Source Title: International Journal of Advanced Manufacturing Technology
ISSN: 02683768
DOI: 10.1007/s00170-012-4629-7
Appears in Collections:Staff Publications

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