Smooth trajectory generation for industrial robots performing high precision assembly processes
2017
Abstract Industrial robots conceived for high-precision assembly processes are demanded to match the best trade-off between precision and speed. This research presents a new approach for defining the motion profiles of robots, based on a smooth trajectory generation model. Execution time is minimized by a novel multi-variable optimization approach, taking into account the performance of each joint and the requirements of extremely precise assembly tasks. The proposed method, tested on a modular robot for the optoelectronics industry, provides jerk-bounded trajectories up to 39% faster compared to the best performing motion planning approaches, while offering the possibility to adapt these trajectories for degraded operating conditions.
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