Research on End-effector Posture and Workpiece Pose Optimization Based on Robot dexterity for robot surface machining process

Abstract

This paper investigates the optimization of robotic and workpiece poses based on the robot dexterity which is represented by the Jacobian Matrix Condition Number. By analyzing posture constraints and trajectory planning issues in robotic operations, a stepwise progressive optimization method is proposed. This method optimizes the posture of the end-effector and the center coordinates and posture of the workpiece system sequentially to minimize the Jacobian Matrix Condition Number for the robotic machining system, thereby enhancing the stability and smooth. Experimental results demonstrate that this approach effectively optimizes the postures of the robot and workpiece, reduces the Jacobian Matrix Condition Number, and improves operational performance. This study provides new insights and methods for robotic posture optimization.