A new systematic formulation is presented that determines suitable locations for a workpiece, and its associated task-motion, in the workspace of a three-hinged planar (SCARA) robotic workcell. It determines all acceptable positions for the first joint of the robot relative to the workpiece; therefore, all solutions are represented as an area in two dimensions, unlike existing methods of motion-planning that present them as a volume in a three-dimensional joint-space for the same planar robot. This simplifies the solution-space by reducing its dimension from three to two. All possible acceptable designs appear in a graphical form that can be readily visualized and directly measured in a Cartesian frame of reference in the workcell. Applications include locating workpieces with tool-paths for fusion welding and for deposition of adhesives.
Issue Section:
Research Papers
1.
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3.
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4.
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18.
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19.
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20.
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25.
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26.
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.
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