Industrial robot path optimization approach with asynchronous fly-by in joint space

@article{Meike2011IndustrialRP,
  title={Industrial robot path optimization approach with asynchronous fly-by in joint space},
  author={Davis Meike and Leonids Ribickis},
  journal={2011 IEEE International Symposium on Industrial Electronics},
  year={2011},
  pages={911-915}
}
In this paper, there is presented a novice industrial robot manipulator trajectory optimization method for series of point-to-point type movements. The approach modifies axes' kinematic profiles reducing the acceleration phases, motor torques and therefore the total energy consumption per nonincreasing cycle time. Method is based on asynchronous motion profile smoothening using cubic B-spline interpolation and is suitable for optimization of existing robot programs for handling or welding… CONTINUE READING

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