Industrial robot path optimization approach with asynchronous fly-by in joint space

In this paper, there is presented a novice industrial robot manipulator trajectory optimization method for series of point-to-point type movements. The approach modifies axes´ kinematic profiles reducing the acceleration phases, motor torques and therefore the total energy consumption per nonincreasing cycle time. Method is based on asynchronous motion profile smoothening using cubic B-spline interpolation and is suitable for optimization of existing robot programs for handling or welding applications that use the point-to-point movement commands.