KUKA KR16 R1610-2 RMRC Path Planning Algorithm

1. Introduction

This is a project assigned as part of a an undergraduate course in robotics in the University of Patras.

This repository contains a MATLAB-based implementation of the RMRC Path Planning Algorithm. The material is self contained as all needed functions to achieve the planner are provided (Forward and Inverse kinematics solver, etc.)

How to run this script

Simply run RMRC.m

2. Background

The aim of the project is for students to get familiar with the kinematics of robot manipulators and path planning algorithms. Each team chose an industrial robot arm in order to achive one of the following tasks:

1. Welding in a straight line
2. Placements of objects
3. Cutting process in a circular path
4. Rectangular path
5. Cubic interpolation
6. Linead and quadratic interpolation

In each process the required coordinate frames (robot base, targets, objects of the environment) are chosen by the student. Our team chose the straight line RMRC PP algorithm.

2.1. Welding in straight line

In this task it is required for the robot’s end effector to move in a straight line in order to achive a welding process. The constraints of this process are:

* The distance the tool must travel from point A to point B is 40cm.
* The robot must cover the distance in 5cm/sec velocity.

A represantation of the process as well as the necessary coordinate frames to be attached to the environment are shown bellow.

Also bellow a simplified represantation of the welding tool as well as the right-hand cordinate frames attached to the TCP {6} and the tool end point {7} are shown. From this image the relative pose of {7} as seen by {6} can be extracted.

2.2. Placements of objects

The robot is requred to pick 4 bottles from a container and place them one next to the other on a shelf. A point to point algorithm must be inccoporated to achive this task. The student is free to chose as many intermediate points as necessary.

2.3. Cutting process in a circular path

A circular cut is assumed to be needed on a block of textiles. The blade of the knife incoporated must always be in parallel with the tanget line or the path. The constraints of this path are:

• 20 cm diameter
• 10 cm/sec velocity
  The RMRC algorithm must be incoporated to achieve this task.

  2.4. Rectangular path

  Glue must be placed in all sides of a rectangular frame. Constraints:
• The Taylor algorithm must be incoporated to achive the specified task. The task must be achieved with an accuracy of 0.1mm.

  2.5. Cubic interpolation

  Achieve a 3-point (non-collinearly) interpolation mothin in space using a 6-degree of freedom robot arm. Velocity and accelaration must be continuous with no sudden changes. The time needed to pass between the first two points must be the same as the one needed to pass between the last two, and equal to double the time needed to achive a PtP algorithm.

  2.6. Linead and quadratic interpolation

3. The robot

For the straight line task a six degree of freedom industrial manipulator should be chosen. Our team chose the KUKA KR16 R1610-2 manipulator for its flexibility and easy modification for welding porpuses. A stock image of the manipulator is presented below.

The following image presents the six asix of the robot arm.

The dimensions required for the extraction of the DH parameters is seen bellow:

4. RMRC Algorithm

5. Issues

6. Future updates

• Add scripts for every process
• Simulate processes using ROS and Gazebo/Moveit

References

1. John J. Craig. 1989. Introduction to Robotics: Mechanics and Control (2nd. ed.). Addison-Wesley Longman Publishing Co., Inc., USA.
2. Ν. Ασπράγκαθος, 2018. ΡΟΜΠΟΤΙΚΗ (Μηχανική, Έλεγχος και Σχεδιασμός Κίνησης)
3. Bruno Siciliano, Lorenzo Sciavicco, Luigi Villani, Giuseppe Oriolo, Robotics (Modelling, Planning and control)
4. KUKA KR 16 R1610-2 Flyer
5. Inverse kinematics problem