Optimizing PTP motions of industrial robots through addition of via-points

verfasst von

Zygimantas Ziaukas, Kai Eggers, Jens Kotlarski, Tobias Ortmaier

Abstract

This paper presents how the addition of via-points can improve the state-of-the-art trajectory planning towards lower energy consumption and/or lower travel time. In contrast to existing approaches using trajectory interpolation methods like B-splines, exclusively standard commands of commonly available robotic systems are used in order to get practicable results. The system's energy demand for a given trajectory is determined based on a model of system energy characterized by low complexity. Trajectory profiles are obtained from original robot trajectory planning by using hardware in the loop. Therefore, results can directly be formulated in machine code. Experimental results demonstrate the effectiveness of the proposed approach. Depending on the given task, energy savings up to 17.3% at equal travel time and time savings up to 13.3% compared to initial PTP motion are possible. The approaches presented are applicable to any robotic application that utilizes PTP motions, e. g. pick-and-place or spot welding tasks.

Organisationseinheit(en)

Institut für Mechatronische Systeme

Typ

Aufsatz in Konferenzband

Seiten

527-538

Anzahl der Seiten

12

Publikationsdatum

2017

Publikationsstatus

Veröffentlicht

Peer-reviewed

Ja

ASJC Scopus Sachgebiete

Maschinelles Sehen und Mustererkennung, Steuerungs- und Systemtechnik

Ziele für nachhaltige Entwicklung

SDG 7 – Erschwingliche und saubere Energie

Elektronische Version(en)

https://doi.org/10.5220/0006396005270538 (Zugang: Offen)