Effective Work Region Visualization for Serial 6 DOF Robots

Optimal serial 6 degree of freedom (DOF) robot path planning has challenges due to the kinematic structures, singularity conditions, and the practical reach limits due to the a path-fixture-end effector orientation and design-robot structure combination. Previous research has been done to define and visualize the functional reach limits for a robot-end effector orientation-end effector tool geometry set. This is expanded and combined with singularity region analyses to be able to visualize the total effective travel path regions for a target application (i.e., FANUC, ABB, or Comau robot families) using the MATLAB toolbox. Visualization tools that represent both the functional work region or work window and singularity regions are presented. This research will provide designers the ability to assess a wide range of industrial robot configurations comprehensively at the design or redesign stages as the valid bounded region defined in this work can be employed for subsequent downstream optimization related to velocity and acceleration control.

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