Prediction of the upper limit of feedrate for robot translational contouring

The problem of how fast a robot can move without exceeding the limits of the joint motor capacities is addressed. For a robot translational contouring, it has been theoretically established that the joint velocities and the joint accelerations can be expressed as products of a feedrate-dependent term and a spatial function called the specific joint velocities and the specific joint accelerations, respectively. On the basis of this separation of variables, a simple efficient algorithms has been developed to determine the maximum feedrate under the constraints on the joint velocities and accelerations. A computer simulation of a typical task in robot translational contouring has been carried out to demonstrate the methodology and its applications in the design of joint motor capacities and selection process conditions