Patrick Olivier

Applied Mathematician
Park Medical Systems Inc.

This is from a project for defining the path that a robot of 6 degrees of freedom must follow. The movement is occurring in 2D and is concerning 2 detectors located at the end of a chain of 6 "joins". The goal is to set a path along which the detectors are tangent to, and to infer the positions of the 6 joins.

The benefits of the analytical solution are that:

1. The resulting software is so precise that it is taken as a reference for calibrating not only the movements of the robot but also the various hardware dimensions of the robot itself.

2. The calculations are so fast (relatively to the maximum speed of the robot) that they are implemented on line for evaluating a predefined set of movements.

3. The method used for solving the inverse problem is so suited to the configuration of the machine that it is possible to fully integrate it into the control loop of the machine for real time control of the movements of the robot.

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