Optimized joint motion planning for redundant industrial robots

Gábor Erdős, András Kovács, József Váncza

Research output: Contribution to journalArticle

9 Citations (Scopus)

Abstract

The paper presents a model and solution method for optimized robot joint motion planning of redundant industrial robots that execute a set of tasks in a complex work environment, in face of various technological and geometric constraints. The approach aims at directly exploiting redundancy to optimize a given performance measure, e.g., cycle time. Alternative configurations along the path are captured in a graph model, whereas bi-directional transition between task and configuration spaces facilitates generating relevant, collision-free configurations only. Re-parametrization of the trajectory warrants compliance with the robot's kinematic constraints. Successful application of the method is demonstrated in remote laser welding.

Original languageEnglish
Pages (from-to)451-454
Number of pages4
JournalCIRP Annals - Manufacturing Technology
Volume65
Issue number1
DOIs
Publication statusPublished - 2016

Keywords

  • Optimization
  • Robot
  • Tool path

ASJC Scopus subject areas

  • Mechanical Engineering
  • Industrial and Manufacturing Engineering

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