Inverse kinematics-based trajectory generation for robot-assisted 3D surface machining

Abstract EN

Machining and tracking of 3D surfaces using industrial robot is not a new method, but the new in this paper is the use of simple trigonometric relations in the calculations of robots joints variables by using the inverse kinematics approach rather than the previous conventional methods like forward kinematics, decoupling, and sensor based machining.

Calculations of the joints variables are mainly based on knowing the robot reference point (origin point) and the coordinates of the tip of the end effectors which is the cutter contact point (CC-P) at the surface.

The coordinate of the cutter location point (CL-P) is the coordinate of the normal vector that passing through the intended cutter contact point.

The joints variables are calculated based on simple trigonometric relationships.

The results of the proposed method are verified based on hand-made simulation programs organized for this purpose.

The simulation results explore the high accuracy and efficiency of the proposed method and its high speed in prediction of joints variables