A Fast Task Planning System for 6R Articulated Robots Based on Inverse Kinematics

Abstract

Abstract Robots are becoming increasingly popular in workplaces to work next to humans and may always need humans to program them for tasks. Technicians could make mistakes that cause unexpected consequences. Robots bring eventful impacts to the workplace, benefiting from the advantages of implementing any technology should be based on the premise of safety. This work proposes a systematic method to establish a postprocessor module for any specified 6R Articulated Robot. Instead of obsessively emphasizing to achieve the desired locations and orientations by hand guiding grab and drag a robotic arm for operation in teaching mode, the significant end-effector poses are calculated to form a new path for the joints efficiently in this study. Since robotic motion control is usually a complex system whose users must be well trained and acquainted with using them. There is a need for a GUI solution that can provide convenient and intuitive robotic motion control on the current location of the user independently, easy setup, arrangement, adjustment, and monitoring robot motion tasks. The proposed system simplifies the interaction between the technician and the industrial robotic arm in the case of robotic motion control and tracking at a distant location. The presented method is fully adapted to alternate between joint angles and end-effector poses on a graphic user interface system. Examples with specified posture and predefined movements are demonstrated for corroborating the algorithm. The results show considerable efficiency and reliability in path planning and are fully supported for automatic path generation.