Positioning and displacement issues on optimizing industrial robots in an aided manufacturing system

Today, the development of the flexible automatization and robotics introduction are unavoidable, inducing important effects on all subsystems and relations from an enterprise. Any problem involving robots fascinates through complexity and interdisciplinary character. The optimum position of an industrial robot in respect to the given application is a very important problem, which can not be solved without a complete analysis of the robot working, from the kinematics and kinetostatic point of view. The position of an industrial robot must be settled in accordance with the solutions of an optimization problem. The objective function, which should be minimized, expressed the energy consumed for a duty cycle, the maximum power, the maximum driving force or moment from the driving system or the inverse efficiency of the robot. In the minimization process are taken into consideration some constrains as: the application must be into the work field of the robot, the relative speeds and accelerations between the contiguous elements of the active kinematics pairs must be maintained in the permissible limits etc.