Optimal Motion Planning and VR Simulation Design for Bending Process Using a Redundant Robot

• Main Authors: Jian-Hong Hou, 侯建鴻
• Other Authors: 林志哲
• Format: Others
• Language: zh-TW
• Online Access: http://ndltd.ncl.edu.tw/handle/v8hw2m

碩士 === 國立臺北科技大學 === 自動化科技研究所 === 105 === To implement the automated system for sheet metal bending operations using a 7-DOF redundant robot, a virtual reality environment which consists of the 7-DOF robot and a bending machine was established using the V-REP software. For sheet metal bending operations, this robot has more DOFs than the required to execute a specified task. Therefore, the redundant robot has kinematic redundancies to deal with the task-priority problems. For redundant robots, Pseudo-inverse of the Jacobian is the most popular motion planning method, but the pseudo-inverse methods usually lead to a kind of chaotic motion with unpredictable arm configurations as the Jacobian matrix lose ranks. To overcome the problem of singularity, this motion planning problem is formulated as an optimization problem. Moreover, a genetic algorithm (GA) based method is proposed to deal with motion planning of the redundant robot. Simulation results validate the proposed method feasible for motion planning of redundant robot in the automated sheet metal bending operations.