Synchronization of tool tip trajectory and attitude based on the surface characteristics of workpiece for 6-DOF robot manipulator.
Chin-Sheng ChenShih-Kang ChenPublished in: Robotics Comput. Integr. Manuf. (2019)
Keyphrases
- robot manipulators
- trajectory planning
- end effector
- control of robot manipulators
- surface roughness
- path planning
- inverse kinematics
- force control
- motion planning
- pose estimation
- position and orientation
- d objects
- degrees of freedom
- control scheme
- dynamic model
- cutting tool
- genetic algorithm
- tool wear
- artificial neural networks
- learning algorithm