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|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|
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