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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 orcid (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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author
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organization
publishing date
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
LU Robotics Laboratory
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
2021-09-29 02:49:46
@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},
}