DETERMINING ROBOT'S WORKING AREA USING LAYER CUTTING METHOD ON THE BASIS OF INVERSE KINEMATIC PROBLEM

Abstract

This study presents a numerical method to find the working area of industrial robots using
numerical methods. Industrial robots have basic technical parameters such as degrees of
freedom, working area, accuracy, lifting capacity, reach, etc. The working area has important
information such as MTI coefficient (Motion Transmition Index), shape and volume of the
working area, hole position, etc. that control engineers need to hold steadily for effective
operation. There are several methods to reveal working area information and it is not too
difficult for simple robots with analytical solutions but very complicated for robots with only
numerical solutions. The method we use in this research is slicing the working area to find the
border using the GRG algorithm. This method can be applicable to all types of robots. In addition,
it also identifies the gaps in the survey area and effectively supports the determination of the
later MTI power transmission coefficient.