The document discusses optimization of tool path for robots in an assembly environment. It aims to develop new algorithms and techniques to optimize the tool path for increased productivity and efficiency with lower energy costs. This includes formulating the tool path optimization problem as a traveling salesman problem (TSP) and developing insertion and reordering algorithms to find optimal non-intersecting paths between target points visited by the robot tool. The document also covers inverse kinematics techniques to determine robot joint parameters required to reach specified target points.

1. OPTIMIZATION OF TOOL PATH IN A ROBOTIC ENVIRONMENT BY MUKUND V. NARASIMHAN DISSERTATION MECHANICAL ENGINEERING DEPARTMENT THE UNIVERSITY OF TEXAS AT ARLINGTON November 20 th 2006

2. Electronic Assembly

11. INSERTION & REORDERING ALGORITHM

14. Path Optimization Results

16. Djibouti Cities

17. Western Sahara Cities.

22. ROBOTICS

25. x z x y x z x z z x Auxiliary Joints Difficulties using CB Notation

26. DIRECT KINEMATICS DISPLACEMENT VELOCITY ACCELERATION

27. ROBOT RESULTS

28. Cincinnati Milacron T3 Robot 0 0 0 0 0 -135,135 6 (R) 90 0 0 0.369 0 -90,90 5 (R) 0 -90 0 0.205 0 -90,90 4 (R) 0 0 0 1.067 0 -150,0 3 (R) 0 0 0 1.067 0 0,90 2 (R) 0 90 0 0 1.5 -120,120 1 (R) Beta (deg) Alpha(deg) b (m) r (m) h (m) (deg) Joint

29. Slice of the Workspace

30. WorkSpace

31. KR 60 P/2 from KUKA Roboter GmbH 0 0 0 0 0 -350,350 6 (R) 90 0 0 0.21 0 -120,120 5 (R) -90 0 0 0 0.893 -350,350 4 (R) 90 0 0 0.507 0 -60,210 3 (R) 0 0 1.4 0 0 -110,40 2 (R) 0 90 0 0.7 0.99 -185,185 1 (R) (deg) (deg) b (m) r (m) h (m) (deg) Joint

32. Slice of the Workspace

33. WorkSpace

34. Motoman UPJ Robot 0 0 0 0 0 -360,360 6 (R) 90 0 0 0.9 0 -120,120 5 (R) -90 0 0 0 2.2 -170,170 4 (R) 90 0 0.298 0.497 0 -55,175 3 (R) 0 0 2.6 0 0 -90,85 2 (R) 0 90 0 0 2.9 -160,160 1 (R) (deg) (deg) b (m) r (m) h (m) (deg) Joint

35. Slice of the Workspace

36. WorkSpace

37. Bendix AA/CNC Industrial Robot 0 0 0 0 0 -360,360 6 (R) 90 0 0 0.146 0 -20,200 5 (R) -90 0 0 0 0.109 -95,95 4 (R) 0 0 0 0 0,0.61 0 3 (P) 90 0 0 0.659 0 -45,225 2 (R) 0 90 0 0 1.067 -95,95 1 (R) (deg) (deg) b (m) r (m) h (m) (deg) Joint

38. Slice of the Workspace

39. WorkSpace

40. Denso HS-E Series Horizontal Articulated Robot 0 0 0 0 0.36 0,360 5 (R) 0 0 0 0 0,2 0 4 (P) 180 0 0 2.25 0 -145,145 3 (R) 0 0 0 1.25 0 -155,155 2 (R) 0 0 0 0 3.62 0,0 1 (R) (deg) (deg) b (m) r (m) h (m) (deg) Joint

41. Cartesian Robot 0 0 0 0 0,2 0 3 (P) 0 90 0 0 0,5 0 2 (P) 90 0 0 0 0,2 0 1 (P) (deg) (deg) b (m) r (m) h (m) (deg) Joint

42. Slice of Workspace WorkSpace

43. Inverse Kinematics

45. Inverse Kinematics of Milacron Robot

46. Application of Inverse Kinematics Solver