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Exploiting Task Redundancy in Industrial Manipulators during Drilling Operations

Zanchettin, Andrea M.; Rocco, Paolo; Robertsson, Anders LU and Johansson, Rolf LU (2011) IEEE International Conference on Robotics and Automation, 2011
Abstract
A drilling task requires a mechanism with five degrees of freedom, in order to achieve the correct position and orientation of the drilling tool. When performed with a standard 6-axes industrial robot, this task leaves an extra degree of freedom that can be exploited in order to achieve any additional criterion. Unfortunately, typical industrial robotic control architectures do not allow the user to modify the inverse kinematics algorithm, and thus to solve task redundancy following any specified criterion. In this paper, a method to enforce an arbitrary redundancy resolution criterion on top of an industrial robot controller is discussed and applied to the execution of a drilling task. The extra degree of freedom is used to perform a... (More)
A drilling task requires a mechanism with five degrees of freedom, in order to achieve the correct position and orientation of the drilling tool. When performed with a standard 6-axes industrial robot, this task leaves an extra degree of freedom that can be exploited in order to achieve any additional criterion. Unfortunately, typical industrial robotic control architectures do not allow the user to modify the inverse kinematics algorithm, and thus to solve task redundancy following any specified criterion. In this paper, a method to enforce an arbitrary redundancy resolution criterion on top of an industrial robot controller is discussed and applied to the execution of a drilling task. The extra degree of freedom is used to perform a torque-effective drilling. Experimental results achieved on the ABB IRB 140 industrial robot are presented. (Less)
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organization
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Contribution to conference
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published
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conference name
IEEE International Conference on Robotics and Automation, 2011
external identifiers
  • scopus:84871678425
language
English
LU publication?
yes
id
069bfc87-3192-4d67-9a50-31196ce8fc32 (old id 2158497)
alternative location
http://ieeexplore.ieee.org/xpls/icp.jsp?arnumber=5979624
date added to LUP
2011-09-16 11:50:51
date last changed
2017-10-01 05:12:24
@misc{069bfc87-3192-4d67-9a50-31196ce8fc32,
  abstract     = {A drilling task requires a mechanism with five degrees of freedom, in order to achieve the correct position and orientation of the drilling tool. When performed with a standard 6-axes industrial robot, this task leaves an extra degree of freedom that can be exploited in order to achieve any additional criterion. Unfortunately, typical industrial robotic control architectures do not allow the user to modify the inverse kinematics algorithm, and thus to solve task redundancy following any specified criterion. In this paper, a method to enforce an arbitrary redundancy resolution criterion on top of an industrial robot controller is discussed and applied to the execution of a drilling task. The extra degree of freedom is used to perform a torque-effective drilling. Experimental results achieved on the ABB IRB 140 industrial robot are presented.},
  author       = {Zanchettin, Andrea M. and Rocco, Paolo and Robertsson, Anders and Johansson, Rolf},
  language     = {eng},
  title        = {Exploiting Task Redundancy in Industrial Manipulators during Drilling Operations},
  year         = {2011},
}