scholarly journals Joint Motion Planning of Industrial Robot Based on Modified Cubic Hermite Interpolation with Velocity Constraint

2021 ◽  
Vol 11 (19) ◽  
pp. 8879
Author(s):  
Yasong Pu ◽  
Yaoyao Shi ◽  
Xiaojun Lin ◽  
Wenbin Zhang ◽  
Pan Zhao
Keyword(s):  
Motion Planning ◽  
Hermite Interpolation ◽  
Industrial Robot ◽  
Industrial Robots ◽  
Joint Motion ◽  
Quintic Polynomial ◽  
C2 Continuity ◽  
Planning Methods ◽  
Velocity Constraints ◽  
Point To Point

As for industrial robots’ point-to-point joint motion planning with constrained velocity, cubic polynomial planning has the problem of discontinuous acceleration; quintic polynomial planning requires acceleration to be specified in advance, which will likely cause velocity to fluctuate largely because appropriate acceleration assigned in advance is hardly acquired. Aiming at these problems, a modified cubic Hermite interpolation for joint motion planning was proposed. In the proposed methodology, knots of cubic Hermite interpolation need to be reconfigured according to the initial knots. The formulas for how to build new knots were put forward after derivation. Using the newly-built knots instead of initial knots for cubic Hermite interpolation, joint motion planning was carried out. The purpose was that the joint planning not only satisfied the displacement and velocity constraints at the initial knots but also guaranteed C2 continuity and less velocity fluctuation. A study case was given to verify the rationality and effectiveness of the methodology. Compared with the other two planning methods, it proved that the raised problems can be solved effectively via the proposed methodology, which is beneficial to the working performance and service life of industrial robots.

scholarly journals Maximizing the Coverage of Roadmap Graph for Optimal Motion Planning

Complexity ◽  
2018 ◽  
Vol 2018 ◽  
pp. 1-23 ◽  
Author(s):  
Jae-Han Park ◽  
Tae-Woong Yoon
Keyword(s):  
Motion Planning ◽  
Industry 4.0 ◽  
Industrial Robot ◽  
Efficient Solutions ◽  
Industrial Robots ◽  
Optimal Motion ◽  
Optimal Motion Planning ◽  
Planning Problems ◽  
Complex Planning ◽  
Satisfactory Quality

Automated motion-planning technologies for industrial robots are critical for their application to Industry 4.0. Various sampling-based methods have been studied to generate the collision-free motion of articulated industrial robots. Such sampling-based methods provide efficient solutions to complex planning problems, but their limitations hinder the attainment of optimal results. This paper considers a method to obtain the optimal results in the roadmap algorithm that is representative of the sampling-based method. We define the coverage of a graph as a performance index of its optimality as constructed by a sampling-based algorithm and propose an optimization algorithm that can maximize graph coverage in the configuration space. The proposed method was applied to the model of an industrial robot, and the results of the simulation confirm that the roadmap graph obtained by the proposed algorithm can generate results of satisfactory quality in path-finding tests under various conditions.

Path Planning with Motion Optimization for Car Body-in-White Industrial Robot Applications

2012 ◽  
Vol 605-607 ◽  
pp. 1595-1599 ◽  
Author(s):  
Pavol Božek ◽  
Kamil Trnka
Keyword(s):  
Motion Planning ◽  
Industrial Robot ◽  
Welding Process ◽  
Current Method ◽  
Industrial Robots ◽  
Motion Optimization ◽  
Body In White ◽  
Time And Energy ◽  
Simulation Systems ◽  
Robot Path

This paper discusses the problem of effective motion planning for industrial robots. The first part dealt with current method for off-line motion planning. In the second part the presented work is done by one of the simulation systems with automatic trajectory generation and off-line programming capability. A spot welding process is involved. The practical application of this step strongly depends on the method for robot path optimization with high accuracy, thus transform the path into a time and energy optimal robot program for the real world, which is discussed in the third step.

scholarly journals Optimizing Industrial Robots for Accurate High-Speed Applications

2013 ◽  
Vol 2013 ◽  
pp. 1-12 ◽  
Author(s):  
Hubert Gattringer ◽  
Roland Riepl ◽  
Matthias Neubauer
Keyword(s):  
High Speed ◽  
Industrial Robot ◽  
Optimization Techniques ◽  
Industrial Robots ◽  
Industrial Control ◽  
Geometric Calibration ◽  
One Step ◽  
Point Trajectories ◽  
Optimal Efficiency ◽  
Point To Point

Today’s standard robotic systems often do not meet the industry’s demands for accurate high-speed robotic applications. Any machine, be it an existing or a new one, should be pushed to its limits to provide “optimal” efficiency. However, due to the high complexity of modern applications, a one-step overall optimization is not possible. Therefore, this contribution introduces a step-by-step sequence of multiple nonlinear optimizations. Included are optimal configurations for geometric calibration, best-exciting trajectories for parameter identification, model-based control, and time/energy optimal trajectory planning for continuous path and point-to-point trajectories. Each of these optimizations contributes to the improvement of the overall system. Existing optimization techniques are adapted and extended for use with a standard industrial robot scenario and combined with a comprehensive toolkit with discussions on the interplay between the separate components. Most importantly, all procedures are evaluated in practical experiments on a standard robot with industrial control hardware and the recorded measurements are presented, a step often missing in publications in this area.

scholarly journals Optimized joint motion planning for redundant industrial robots

CIRP Annals ◽  
2016 ◽  
Vol 65 (1) ◽  
pp. 451-454 ◽  
Author(s):  
Gábor Erdős ◽  
András Kovács ◽  
József Váncza
Keyword(s):  
Motion Planning ◽  
Industrial Robots ◽  
Joint Motion

Industrial robot path planning in a constraint-based computer-aided design and kinematic analysis environment

2009 ◽  
Vol 223 (5) ◽  
pp. 523-533 ◽  
Author(s):  
G-C Vosniakos ◽  
A Chronopoulos
Keyword(s):  
Computer Aided Design ◽  
Industrial Robot ◽  
Industrial Robots ◽  
Constrained Motion ◽  
Virtual Objects ◽  
Computer Aided ◽  
Point Motion ◽  
Point To Point ◽  
Aided Design ◽  
Active Joints

Paths of industrial robots are easier to plan by using constraints on accurate computer-aided design (CAD) models of both objects representing the real industrial robotic cell and virtual objects representing the auxiliary geometry that is necessary to define path points. The motion path normally needs to be split into segments possessing uniform characteristics, e.g. common active joints, at points usually corresponding to position or velocity extremes. Each segment corresponds either to point-to-point motion or to constrained motion. Point-to-point motion is implemented by interpolating between original and final position of each joint separately, positions being determined through inverse kinematics in the CAD environment and motion being imparted to each joint directly. Constrained motion may be defined using several alternatives materialized with stationary and moving virtual objects, real robot joints, virtual joints, contact constraints, and motion constraints. Motion duration is specified after the corresponding path geometry has been specified, by exploiting maximum active joints velocity as well as end-tool velocity as dictated by the process. Collisions are detected using available functionality and are alleviated interactively. A user-defined number of interpolated robot poses are generated per segment. These are all ‘sewn’ together at the motion synthesis stage and frame-based simulation is generated. A realistic robotic lathe loading/unloading example is used to verify the use of the above notions and tools.

Optimization Trajectory in Handling with the Same Object

2014 ◽  
Vol 613 ◽  
pp. 230-235
Author(s):  
Marek Vagaš
Keyword(s):  
Trajectory Optimization ◽  
Industrial Robot ◽  
Optimization Method ◽  
Industrial Robots ◽  
Optimization Strategy ◽  
Mechanical Resonance ◽  
Resonance Modes ◽  
Robot Trajectory ◽  
Point To Point ◽  
Point Type

In this paper, there is presented an industrial robot trajectory optimization method for series of point-to-point type movements. Also contain an optimization strategy that has been built using through proposed automated optimizing system for handling. The optimized trajectories must lead to avoid exciting mechanical resonance modes of the industrial robot structure. This can be achieved by applying of robot interpolation. The testing results show that the trajectory optimization through this method is feasible for industrial robots.

Constrained motion planning for open-chain industrial robots

Robotica ◽  
2010 ◽  
Vol 29 (3) ◽  
pp. 403-420 ◽  
Author(s):  
Gianluca Antonelli ◽  
Cataldo Curatella ◽  
Alessandro Marino
Keyword(s):  
Motion Planning ◽  
Industrial Robots ◽  
Robot Motion ◽  
Constrained Motion ◽  
Open Chain ◽  
Physical Constraints ◽  
Industrial Manipulators ◽  
Planning Algorithm ◽  
Wide Perspective ◽  
Point To Point

SUMMARYIn the industrial environment, several constraints affect the robot motion planning. These are imposed by manufacturing considerations, such as, e.g., to strictly follow a given path, or by physical constraints, such as, e.g., to avoid torque saturation. Among the others, limitation on the velocity, acceleration, and jerk at the joints is often required by the robot manufacturers. In this paper, a motion planning algorithm for open-chain robot manipulators that takes into account several constraints simultaneously is presented. The algorithm developed approaches the motion planning algorithm from a wide perspective, solving systematically the joint as well as the Cartesian motion, both for the point-to-point and the fly movements. The validation has been performed first by numerical simulations and then by experiments on two different industrial manipulators, with different size, with and without the presence of a payload, by imposing demanding trajectories where all the constraints have been excited.

SAFETY AND RISK ASSESSMENT AT AUTOMATED WORKPLACE

2018 ◽  
pp. 78-84
Author(s):  
Marek Vagas
Keyword(s):  
Risk Assessment ◽  
Industrial Robot ◽  
Industrial Robots ◽  
Added Value ◽  
Growing Up ◽  
Target Setting ◽  
Clear View ◽  
General Safety

Urgency of the research. Automated workplaces are growing up in present, especially with implementation of industrial robots with feasibility of various dispositions, where safety and risk assessment is considered as most important issues. Target setting. The protection of workers must be at the first place, therefore safety and risk assessment at automated workplaces is most important problematic, which had presented in this article Actual scientific researches and issues analysis. Actual research is much more focused at standard workplaces without industrial robots. So, missing of information from the field of automated workplaces in connection with various dispositions can be considered as added value of article. Uninvestigated parts of general matters defining. Despite to lot of general safety instructions in this area, still is missed clear view only at automated workplace with industrial robots. The research objective. The aim of article is to provide general instructions directly from the field of automated workplaces The statement of basic materials. For success realization of automated workplace is good to have a helping hand and orientation requirements needed for risk assessment at the workplace. Conclusions. The results published in this article increase the awareness and information of such automated workplaces, together with industrial robots. In addition, presented general steps and requirements helps persons for better realization of these types of workplaces, where major role takes an industrial robot. Our proposed solution can be considered as relevant base for risk assessment such workplaces with safety fences or light barriers.

A Polishing Robot Force Control System Based on Time Series Data in Industrial Internet of Things

2021 ◽  
Vol 21 (2) ◽  
pp. 1-22
Author(s):  
Chen Zhang ◽  
Zhuo Tang ◽  
Kenli Li ◽  
Jianzhong Yang ◽  
Li Yang
Keyword(s):  
Time Series ◽  
Control System ◽  
Force Control ◽  
Time Series Data ◽  
Industrial Robot ◽  
Industrial Robots ◽  
Series Data ◽  
Industrial Internet Of Things ◽  
Industrial Internet ◽  
Force Control System

Installing a six-dimensional force/torque sensor on an industrial arm for force feedback is a common robotic force control strategy. However, because of the high price of force/torque sensors and the closedness of an industrial robot control system, this method is not convenient for industrial mass production applications. Various types of data generated by industrial robots during the polishing process can be saved, transmitted, and applied, benefiting from the growth of the industrial internet of things (IIoT). Therefore, we propose a constant force control system that combines an industrial robot control system and industrial robot offline programming software for a polishing robot based on IIoT time series data. The system mainly consists of four parts, which can achieve constant force polishing of industrial robots in mass production. (1) Data collection module. Install a six-dimensional force/torque sensor at a manipulator and collect the robot data (current series data, etc.) and sensor data (force/torque series data). (2) Data analysis module. Establish a relationship model based on variant long short-term memory which we propose between current time series data of the polishing manipulator and data of the force sensor. (3) Data prediction module. A large number of sensorless polishing robots of the same type can utilize that model to predict force time series. (4) Trajectory optimization module. The polishing trajectories can be adjusted according to the prediction sequences. The experiments verified that the relational model we proposed has an accurate prediction, small error, and a manipulator taking advantage of this method has a better polishing effect.

Sign in / Sign up

Export Citation Format

Share Document