Robot manipulator end-effector orientation setting methods

The paper presents the approach expanding the possible ways of the manipulated object orientation setting, and consequently the robot manipulator end-effector required orientation when maintaining the process equipment through the use of the rotation matrixes 3*3 and one of the Euler angles systems. The algorithm of identifying the complete set of the permitted combinations of angles between the axes of the base coordinate system and the manipulated object one clearly specifying the robot manipulator end-effector desired orientation in the Cartesian coordinates selected space is proposed. Fifty four ways of the orientation defining based on the rotation matrixes 3*3 and six ways on the basis of the Euler angles were obtained. The specified angles combinations make it possible to simplify the integration of the coordinate systems related to the manipulated object and robot manipulator end-effector.