A unified optimization approach for a (6+1)-axis robot system

Abstract

A (6+1)-axis robot consists of a 6-joint GMF S-700 regular robot arm moving on a linear servo-track that is specifically designed for auto-industrial advanced applications. Kinematically, it is modeled as a seven-joint redundant robot with a one-dimensional null space. A new algorithm of the inverse kinematic solution is developed to provide a unified approach to the realization of major local optimization methods. The (6+1)-axis robot has been implemented in GM laboratory to enhance flexibility and effectiveness of the existing ROBOCUT system for full-size car-model cutting as well as car-body painting.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>