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    METHOD OF FINDING FEASIBLE JOINT TRAJECTORIES FOR AN N-DOF ROBOT WITH ROTATION INVARIANT PROCESS (N>5)
    1.
    发明公开
    METHOD OF FINDING FEASIBLE JOINT TRAJECTORIES FOR AN N-DOF ROBOT WITH ROTATION INVARIANT PROCESS (N>5) 有权
    一种用于找到实际关节运动路径用于N DOF机器人Rotationsinvariantenprozess方法（N> 5）

    公开(公告)号：EP2523786A1

    公开(公告)日：2012-11-21

    申请号：EP11700035.6

    申请日：2011-01-07

    申请人： Syddansk Universitet

    发明人： GORDON PETERSEN, Henrik ,  CORTSEN, Jens ,  SOELVASON, Dorthe

    IPC分类号： B25J9/16

    CPC分类号： B25J9/1664 ,  B25J9/1607 ,  G05B2219/39081 ,  G05B2219/40336 ,  G05B2219/40339 ,  G05B2219/40363

    摘要： There is provided a computer-implemented method for determining feasible joint trajectories for an n-dof (n>5) robot in a rotation invariant processing of an object, such as milling, painting, and welding. The method includes the steps of receiving geometric data representing the object; receiving geometric data representing the processing tool; receiving a tool path X(t), where t is time; searching for feasible paths q
    Robot (t) using IK (t) and q
    Tool (t) as set of possible solutions at time t, wherein q
    Robot (t) defines positions of all the joints in the robot as function of time, q
    Tool (t) defines the rotation of a tool flange around the tool axis at time t, and IK (t) defines the inverse kinematics solutions for a given X(t) and q
    Tool (t); and determining, from the geometric data and X(t), how the joint path q
    Robot (t) should be chosen so as to comply with one or more optimisation criteria.