NDLI: Point-to-point robot motion optimization based on the state parametrization

Content Provider	IEEE Xplore Digital Library
Author	Yimin Zhang
Copyright Year	1994
Description	Author affiliation: Robot Syst. Technol. Dept., Fraunhofer Inst. for Prod. Syst. & Design Technol., Berlin, Germany (Yimin Zhang)
Abstract	This paper presents a new practical approach for automatic synthesis of task-oriented optimal point-to-point motions of robots. The optimal trajectory planning can be viewed as a constrained dynamic optimization problem. The proposed procedure is based on the parametrization of the state functions. It considers all praxis relevant constraints imposed by the robot and the technology. The optimization criterion can be chosen among the minimum cycle time and the minimum mechanical stress. The procedure has been implemented within an off-line programming system for industrial applications. The efficiency of the procedure and the attainable benefits were verified on six-jointed robots using industrially relevant motion tasks. Using this method, much higher performance of motion behavior of industrial robots can be achieved and at the same time the programming expenditures can be reduced considerably.
Starting Page	1732
Ending Page	1736
File Size	543544
Page Count	5
File Format	PDF
ISBN	0780317831
DOI	10.1109/ACC.1994.752369
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1994-06-29
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot motion Service robots Motion planning Stress Technology planning Robot sensing systems Robotics and automation Robot programming Optimized production technology Trajectory
Content Type	Text
Resource Type	Article

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