Industrial Robot Path Optimization Approach with Asynchronous FLY-BY in Joint Space

Proceedings on 20th IEEE International Symposium on Industrial Electronics (ISIE 2011) 2011
Dāvis Meike, Leonīds Ribickis

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 applications that use the point-to-point movement commands.

Keywords
industrial robots, energy efficiency, path optimization
DOI
10.1109/ISIE.2011.5984280
Hyperlink
http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=5984280

Meike, D., Ribickis, L. Industrial Robot Path Optimization Approach with Asynchronous FLY-BY in Joint Space. In: Proceedings on 20th IEEE International Symposium on Industrial Electronics (ISIE 2011), Poland, Gdansk, 27-30 June, 2011. Piscataway: IEEE, 2011, pp.911-915. ISBN 978-1-4244-9310-4. e-ISBN 978-1-4244-9311-1. Available from: doi:10.1109/ISIE.2011.5984280

Publication language
English (en)