A fast task planning system for 6R articulated robots based on inverse kinematics

Area of Science:

• Robotics
• Automation Engineering
• Human-Computer Interaction

Background:

• Implementing new technology in the workplace, especially robotics, requires a strong emphasis on safety and ease of use.
• Traditional robotic motion control systems are often complex, demanding specialized training for technicians.
• A need exists for intuitive graphical user interface (GUI) solutions to simplify robot operation, setup, and monitoring.

Purpose of the Study:

• To develop a systematic method for creating a postprocessor module applicable to any 6R articulated robot.
• To enable efficient robotic motion control and task planning by calculating significant end-effector poses for joint path generation.
• To provide an intuitive GUI for independent user operation, simplifying interaction with industrial robotic arms.

Main Methods:

• A systematic method was developed to establish a postprocessor module for 6R articulated robots.
• The approach focuses on calculating end-effector poses to generate efficient joint paths, moving away from manual teaching methods.
• A functional postprocessor was programmed within a proposed GUI system, enabling seamless alternation between joint angles and end-effector poses.

Main Results:

• The developed system demonstrates considerable efficiency and reliability in robotic task planning.
• Automatic path generation capabilities are fully supported by the proposed algorithm.
• The GUI system simplifies the interaction between technicians and industrial robotic arms for motion control and remote tracking.

Conclusions:

• The proposed systematic method and GUI system effectively simplify industrial robotic arm operation and motion control.
• The approach enhances efficiency and reliability in task planning and automatic path generation for 6R articulated robots.
• This work contributes to making advanced robotic technology more accessible and manageable for a wider range of users.