A 2-DIMENSIONAL FORMULATION FOR PATH-PLACEMENT IN THE WORKCELLS OF PLANAR 3-R ROBOTS

A new systematic formulation is presented that determines suitable loc ations for a workpiece, and its associated task-motion, in the workspa ce of a three-hinged planar (SCARA) robotic workcell. It determines al l acceptable positions for the first joint of the robot relative to th e workpiece; therefore, all solutions are represented as art area in t wo dimensions, unlike existing methods of motion-planning that present them as a volume in a three-dimensional joint-space for the same plan ar robot. This simplifies the solution-space by reducing its dimension from three to two. All possible acceptable designs appear in a graphi cal form that can be readily visualized and directly measured in a Car tesian frame of reference in the workcell. Applications include locati ng workpieces with tool-paths for fusion welding and for deposition of adhesives.