Impact modeling of sawing tasks and experimental verification using a parallel robot

Byung Rok So, Jae Hoon Lee, Byung Ju Yi, Seog Young Han, Seon Jeong Kim

Research output: Contribution to journalArticle

Abstract

The amount of the external impulse exerted on the object being sawn has been treated one of important control parameters. At the same time, the internal impulses experienced in the joints should be taken into account to avoid serious damage or injury at the joints of robot. This paper discusses the impulse models in a straight sawing task. And, a motion planning algorithm is proposed, which employs the external and internal impulses as performance indices. For this, the gradient projection method is employed to exploit the kinematic redundancy of the robot structure. Finally, through both simulation and experimentation for the sawing task, the effectiveness of the proposed motion planning algorithm could be verified.

Original languageEnglish
Pages (from-to)1535-1538
Number of pages4
JournalKey Engineering Materials
Volume326-328 II
StatePublished - 2006 Dec 6

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Sawing
Motion planning
Robots
Redundancy
Kinematics

Keywords

  • Impact
  • Kinematic redundancy
  • Motion planning
  • Sawing

Cite this

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Impact modeling of sawing tasks and experimental verification using a parallel robot. / So, Byung Rok; Lee, Jae Hoon; Yi, Byung Ju; Han, Seog Young; Kim, Seon Jeong.

In: Key Engineering Materials, Vol. 326-328 II, 06.12.2006, p. 1535-1538.

Research output: Contribution to journalArticle

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