Jianjun Yao*, Chen Qian, Yikun Zhang, Geyang Yu
CMES-Computer Modeling in Engineering & Sciences, Vol.134, No.2, pp. 1283-1303, 2023, DOI:10.32604/cmes.2022.021328
Abstract The 6-DOF manipulator provides a new option for traditional shipbuilding for its advantages of vast working space,
low power consumption, and excellent flexibility. However, the rotation of the end effector along the tool axis is
functionally redundant when using a robotic arm for five-axis machining. In the process of ship construction, the
performance of the parts’ protective coating needs to be machined to meet the Performance Standard of Protective
Coatings (PSPC). The arbitrary redundancy configuration in path planning will result in drastic fluctuations in
the robot joint angle, greatly reducing machining quality and efficiency. There have been some studies on… More >
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