Open AccessResearch on Region Division of Large Workpiece Based on Dexterous Workspace of Robot
Author(s) -
Zhang Yong-gui,
Gan Zhang,
Xin Xu,
Qianqiu Zhao
Publication year - 2021
Publication title -
journal of physics. conference series
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.21
H-Index - 85
eISSN - 1742-6596
pISSN - 1742-6588
DOI - 10.1088/1742-6596/2095/1/012059
Subject(s) - workspace , robot , kinematics , computer vision , task (project management) , process (computing) , computer science , division (mathematics) , artificial intelligence , cartesian coordinate robot , scale (ratio) , robot kinematics , engineering , mobile robot , mathematics , physics , arithmetic , systems engineering , classical mechanics , quantum mechanics , operating system
In order to complete the processing of large-scale workpieces, a region division of large-scale workpieces based on robot dexterous workspace is studied. The linkage coordinate system of the robot is established by D-H method, and the forward kinematics equation of the robot is obtained; Monte Carlo method is used to analyze the workspace of the robot, and MATLAB is used to program to draw the workspace and task space of the robot; Taking an example part as the object, the feature of the part is studied, and the process of determining the task space area of the workpiece in the dexterous workspace of the robot is given, and the region of the workpiece is divided based on the size of the task space and the geometric features of the workpiece.