Computer Aided Planning of Adept Six-300 Robot Trajectories

Abstract

This work presents the robot motion planning Adept Six-300 using the program Tobject calculates coordinates of position and orientation of the manipulation object, observed by the two cameras Edimax IC-7100P. The method of determining the geometric parameters occurring in the equations of the kinematics of the gripper and manipulation object was presented. In order to geometric calibrate these cameras original algorithm that does not require calculation of the projection matrix or fundamental matrix was used. Thanks to this used algorithm is faster and more accurate than methods with these arrays. The input of these algorithms are characteristic points coordinates of the manipulation object, obtained by these two cameras. On the basis of these coordinates the program Tobject calculates the trajectory of: (a) approaching, (b) capturing, (c) moving the observed object to a predefined point, and (d) returning the gripper to the starting position. In discretization point of the trajectory this program calculates coordinates the joint variables of the manipulator. In the calculations multiple solutions of inverse kinematics are taken into account, including solutions in singular configurations. Among these multiple solutions which minimizes the square indicator of quality is chosen. The program Tobject is installed in external computer constituting a server that cooperates with cameras and robot controller, by means of the Ethernet.