The redundancy of a 6R industrial robot is resolved for five-axis milling applications. This paper describes a post-processor focused algorithm that is adequate to numerically solve the redundancy with multiple constraints. Some critical constraints for cutting process, such as singularity, joint limits and collision are considered. The corresponding criterion functions are designed for the optimization procedure. Those constraints are synthesized as the multi-objective function to be minimized. A example of tool path testing the functionality of the optimization algorithm is presented. The optimization process is implemented into a 3D simulation system for the cutting robot. Some test pieces are cut to validate the feasibility of the algorithm.
['Wenlei Xiao', 'Ji Huan']
Redundancy and optimization of a 6R robot for five-axis milling applications: singularity, joint limits and collision