Inverse Kinematics-Based Trajectory Generation For Robot-Assisted 3D Surface Machining


Machining and tracking of 3D surfaces using industrial robot is not a newmethod, but the new in this paper is the use of simple trigonometric relations inthe calculations of robots joints variables by using the inverse kinematicsapproach rather than the previous conventional methods like forward kinematics,decoupling, and sensor based machining. Calculations of the joints variables aremainly based on knowing the robot reference point (origin point) and thecoordinates of the tip of the end effectors which is the cutter contact point (CC-P)at the surface. The coordinate of the cutter location point (CL-P) is the coordinateof the normal vector that passing through the intended cutter contact point. Thejoints variables are calculated based on simple trigonometric relationships. Theresults of the proposed method are verified based on hand-made simulationprograms organized for this purpose. The simulation results explore the highaccuracy and efficiency of the proposed method and its high speed in prediction ofjoints variables.