SHOE GRINDING CELL USING VIRTUAL MECHANISM APPROACH
作者： Leon Zlajpah , Bojan Nemec
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摘要: The paper describes the automation of shoe grinding process using an industrial robot. One major problems flexible robots is how to avoid joint limitations, singular configuration and obstacles. This problem can be solved kinematically redundant robots. Due circular shape disc, robot becomes redundant. task redundancy was efficiently handled virtual mechanism approach, where tool described as a serial mechanism.
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