Please use this identifier to cite or link to this item:
|Title:||Orientation planning of robot end-effector using augmented reality|
End-effector orientation planning
|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. https://doi.org/10.1007/s00170-012-4629-7|
|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|
|Appears in Collections:||Staff Publications|
Show full item record
Files in This Item:
There are no files associated with this item.
checked on Aug 16, 2018
WEB OF SCIENCETM
checked on Jul 31, 2018
checked on Jul 6, 2018
Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.