Buschhaus A, Franke J, Reitinger P (2016)
Publication Type: Conference contribution, Conference Contribution
Publication year: 2016
Conference Proceedings Title: 2nd IEEE International Conference on Control, Automation and Robotics
Jointed-arm robots can be used for a broad variety of tasks. Thereby the planning of complex three-dimensional trajectories can be very time consuming. This is especially true, if a defined movement of the work-piece relative to a process-tool is required. For such tasks, the trajectory programming is greatly supported by 3D-kinematic simulation tools. However, the dynamic attributes of the real robot are unconsidered by this way of programming. Geometric discontinuities within the process path lead to abrupt changes of the Tool Center Point (TCP) orientation, which results in infinite values for acceleration and deceleration of the robot axis. Adjacent process planes, which share the same edges but have different angles of their surface normals, require an abrupt change of the work-piece orientation relative to the tool. This results in irregularities of the robot movements. To overcome this problem, a method and system for an automated trajectory optimization of complex 3D-robot movements is developed at the FAPS institute. Thereby in critical areas of the process pathway a continuous and defined pre- or post-rotation of the work-piece relative to the tool is achieved, considering process and robot specific boundary conditions. Further algorithms have been developed, which enable an automated control of the process equipment and an automatic generation of non-process relevant trajectory segments for a TCP reorientation. In addition, the velocity parameters of the robot movements are automatically modified. By this way of proceeding, a steady movement speed of the tool relative to process planes and a smoother robot movement is guaranteed, which has been as well validated by first experiments.
APA:
Buschhaus, A., Franke, J., & Reitinger, P. (2016). Automated Optimization of Complex Three-dimensional Robot Trajectories. In IEEE (Eds.), 2nd IEEE International Conference on Control, Automation and Robotics.
MLA:
Buschhaus, Arnd, Jörg Franke, and Peter Reitinger. "Automated Optimization of Complex Three-dimensional Robot Trajectories." Proceedings of the 2nd IEEE International Conference on Control, Automation and Robotics Ed. IEEE, 2016.
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