Exploiting Task Redundancy in Industrial Manipulators during Drilling Operations
(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)
Please use this url to cite or link to this publication:
https://lup.lub.lu.se/record/2158497
- author
- Zanchettin, Andrea M. ; Rocco, Paolo ; Robertsson, Anders LU and Johansson, Rolf LU
- organization
- publishing date
- 2011
- type
- Chapter in Book/Report/Conference proceeding
- publication status
- published
- subject
- host publication
- Proc. 2011 IEEE International Conference on Robotics and Automation (ICRA2011)
- conference name
- IEEE International Conference on Robotics and Automation, 2011
- conference location
- Shanghai, China
- conference dates
- 2011-05-09 - 2011-05-13
- external identifiers
-
- scopus:84871678425
- project
- RobotLab LTH
- ROSETTA
- 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
- 2016-04-04 13:05:22
- date last changed
- 2024-03-19 05:10:49
@inproceedings{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}}, booktitle = {{Proc. 2011 IEEE International Conference on Robotics and Automation (ICRA2011)}}, language = {{eng}}, title = {{Exploiting Task Redundancy in Industrial Manipulators during Drilling Operations}}, url = {{http://ieeexplore.ieee.org/xpls/icp.jsp?arnumber=5979624}}, year = {{2011}}, }