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Planning and Realization of Singular Trajectories of Adept Six 300 Robot

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Intelligent Robotics and Applications (ICIRA 2015)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 9245))

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Abstract

In this paper the solutions of forward and inverse kinematics problem for Adept Six 300 robot are presented. A matrix method was used in computations. Presented algorithm was used in trajectory planning. Joint values are chosen from a given set of solutions. A graph of solutions is made. Nodes represent the solutions of inverse kinematics problem and arcs’ weight are the cost of transition between two configurations. Two criteria are proposed in order to obtain smooth motion with desired properties. Algorithm based on derived formulas and logical conditions has been implemented in Adept SmartController CX. A comparison between manufacturer’s and proposed algorithm is presented. Proposed solution of inverse kinematics problem allows for a smooth passage through singular points.

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Author information

Authors and Affiliations

  1. Institute of Automatic Control, Silesian University of Technology, Akademicka 16 St., 44-100, Gliwice, Poland

    Tadeusz Szkodny & Adrian Łȩgowski

Authors
  1. Tadeusz Szkodny
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  2. Adrian Łȩgowski
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Corresponding author

Correspondence to Adrian Łȩgowski .

Editor information

Editors and Affiliations

  1. University of Portsmouth, Portsmouth, United Kingdom

    Honghai Liu

  2. Tokyo Metropolitan University, Tokyo, Japan

    Naoyuki Kubota

  3. Shanghai Jiao Tong University, Shanghai, China

    Xiangyang Zhu

  4. Karlsruhe Institute of Technology, Karlsruhe, Germany

    Rüdiger Dillmann

  5. University of Portsmouth, Portsmouth, United Kingdom

    Dalin Zhou

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Szkodny, T., Łȩgowski, A. (2015). Planning and Realization of Singular Trajectories of Adept Six 300 Robot. In: Liu, H., Kubota, N., Zhu, X., Dillmann, R., Zhou, D. (eds) Intelligent Robotics and Applications. ICIRA 2015. Lecture Notes in Computer Science(), vol 9245. Springer, Cham. https://doi.org/10.1007/978-3-319-22876-1_27

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  • DOI: https://doi.org/10.1007/978-3-319-22876-1_27

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-22875-4

  • Online ISBN: 978-3-319-22876-1

  • eBook Packages: Computer ScienceComputer Science (R0)

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