Valente, Anna and Carpanzano, Emanuele and Baraldo, Stefano
(2017)
Smooth trajectory generation for industrial robots performing high precision assembly processes.
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Abstract
Industrial robots conceived for high-precision assembly processes are demanded to match the best trade-off between precision and speed. This research presents a new approach for defining the motion profiles of robots, based on a smooth trajectory generation model. Execution time is minimized by a novel multi-variable optimization approach, taking into account the performance of each joint and the requirements of extremely precise assembly tasks. The proposed method, tested on a modular robot for the optoelectronics industry, provides jerk-bounded trajectories up to 39% faster compared to the best performing motion planning approaches, while offering the possibility to adapt these trajectories for degraded operating conditions.
| Item Type: | Scientific journal article, Newspaper article or Magazine article |
|---|---|
| Subjects: | Engineering > Production & manufacturing engineering Engineering > Production & manufacturing engineering > Manufacturing systems engineering > Production processes |
| Department/unit: | Dipartimento tecnologie innovative |
| Depositing User: | Andrea Degiorgi-Wermelinger |
| Date Deposited: | 14 Mar 2018 07:23 |
| Last Modified: | 29 Mar 2018 09:09 |
| URI: | http://repository.supsi.ch/id/eprint/9379 |
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