C. R. Srinivasan ¹, R. Senthilnathan ², P. Subhasree ³, R. Sivaramakrishnan ³, R. Srividya ¹, P. Karthikeyan ³

Affiliations
1 Faculty of Manipal Institute of Technology, Manipal University, Manipal - 576104, Karnataka, IN
2 Department of Mechatronics Engineering, SRM University, Kattankulathur - 603203, Tamil Nadu, IN
3 Division of Mechatronics, Department of Production Technology, MIT Campus, Anna University, Chennai-600025, Tamil Nadu, IN

Abstract

Objectives: Trajectory planning is the most vital procedure in every continuous path control based application of robotic arm type manipulators. This paper presents the methodology adopted for planning a trajectory required to be followed by the eye-in-hand camera mounted near the end-effector of a six axis manipulator. The basic purpose is to acquire a sequence of images by translating the camera along the optical axis of the camera which is meant to be used by an algorithm inspired by Shape from Focus (SFF). Methods/Statistical Analysis: The movement of the camera (the end effector) is controlled in the task space of the robot a Cartesian space approach is presented where-in the inverse kinematics computations needs to be performed at run time. All the trajectory planning and simulation of the robot’s movements are demonstrated in the simulation where the cues for camera motion are obtained from the SFF-inspired algorithm. Since the SFF-inspired algorithm requires a linear trajectory to be followed by the camera and manipulator is an all-revolute joint based one, careful understanding of the workspace of the robot for singularities is of prime importance. The ability of the manipulator to orient in three axes at the various reachable positions of the workspace is estimated by a manipulability measure. The linear trajectory to be followed by the end-effector is planned in the region of the workspace which has the highest manipulability. Findings: The paper describes the various steps involved in the process of understanding the manipulability of the workspace and planning of the trajectory in accordance with the manipulability index. The details of the trajectory planning to meet the requirements are clearly illustrated. Application/Improvements: Though the intended purpose of planning the trajectory is specific to a computer vision task, the methodology demonstrated is applicable for any application involving linear trajectories. The scope for future work in continuation of the current work is in the direction of dynamics affected trajectory planning.

Keywords

Linear Trajectory, Manipulability, SFF, Trajectory Planning.

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G. Shanmugasundar ¹, R. Sivaramakrishnan ², S. Balasubramani ¹

Affiliations
1 Department of Mechanical Engineering, Sri Sairam Institute of Technology, Chennai - 600044, Tamil Nadu, IN
2 Department of Production Technology, Madras Institute of Technology, Anna University, Chennai - 600044, Tamil Nadu, IN

Abstract

Objectives: This paper characteristic the proposed method of trajectory generator of designing the mechanical type manipulator configuration as called the robot model after validating the kinematic analysis and software simulation of the mechanism. Methods/Statistical Analysis: The robot manipulator has utilized in this paper used for welding operation. In the mechanical configuration the successful utilization of newly designed universal joints and also the use of screw jack mechanisms at the robot manipulator base give the higher flexibility and degrees of freedom (dof) in the arms of the robot. This paper also describes the path planning of the robot based on the computer graphics concept of Bresenham’s line and circle algorithm for trajectory generation. This paper also describes the path planning of the robot based on the Bresenham’s line and circle algorithm concepts. Findings: This type of algorithm proved to generate the trajectory is very much effective, accurate and fast manner. From the trajectory points the new way of finding the joint angles was found using the inverse kinematics relationship were explained in this paper. Application/Improvements: This work is an essential parameter for robot trajectory formation with the given diameter of the cylinder to be going to be welded.

Keywords

Bresenhams Circle Algorithms, Robot Manipulator, Trajectory Generation, Welding Robot

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