Time-optimal motions of robots in assembly tasks

Author

Geering, Hans P. ; Guzzella, Lino ; Hepner, Stephan A R ; Onder, Christopher H.

Author_Institution

The Swiss Federal Institute of Technology, Zurich, Switzerland

Volume

31

Issue

6

fYear

1986

fDate

6/1/1986 12:00:00 AM

Firstpage

512

Lastpage

518

Abstract

For a cylindrical, and a spherical robot, and a robot with a horizontal articulated arm with two links, time-optimal unconstrained trajectories for arbitrary fixed initial and final positions are calculated. The exact equations of motion are utilized. The controls (torques and forces) are limited. The general structure of the optimal solution is discussed and explained physically for each robot. The importance of such analyses during the mechanical design of a robot is pointed out. The reduction of the duration of an optimal motion, compared to more straightforward and natural ones, and hence the increase of the productivity of the robot in an assembly cycle can be considerable. The numerical examples include the "Automelec ACR" and the "IBM 7535 B 04" robots.

Keywords

Manipulator motion-planning; Time-optimal control, nonlinear systems; Equations; Force control; Gravity; Open loop systems; Optimal control; Productivity; Robotic assembly; Robotics and automation; Robots; Torque control;

fLanguage

English

Journal_Title

Automatic Control, IEEE Transactions on

Publisher

ieee

ISSN

0018-9286

Type

jour

DOI

10.1109/TAC.1986.1104333

Filename

1104333