Title
Robotic JointMotion Optimization of FunctionallyRedundant Tasks: With Application on JointLimits and Singularity Avoidance,Used
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Most of machining operations, such as welding, deburring or milling, have a symmetry axis. Clearly, the rotation of the tool around the symmetry axis is irrelevant to the view of the task to be accomplished. If the task is performed with a sixrotationaxis industrial robot, there is one degrees of freedom of kinematic redundancy, which provides the potential of optimization. This kind of redundancy is called as functional redundancy, with contrast to intrinsic redundancy well known by most researchers. Functionallyredundant (FR) tasks have very common existence in the industrial robotic field, but still are ignored by most researchers. Concerning the requirement for applying industrial robot in manufacturing, this book proposes a new redundantresolution approach to solve functionallyredundant robotic tasks. This approach is called Twist Decomposition Approach(TWA). In this book, jointlimits and singularity avoidance are considered as the two main optimization objectives.
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