scholarly journals Optimized joint motion planning for redundant industrial robots

CIRP Annals ◽  
2016 ◽  
Vol 65 (1) ◽  
pp. 451-454 ◽  
Author(s):  
Gábor Erdős ◽  
András Kovács ◽  
József Váncza
Keyword(s):  
Motion Planning ◽  
Industrial Robots ◽  
Joint Motion

scholarly journals Joint Motion Planning of Industrial Robot Based on Modified Cubic Hermite Interpolation with Velocity Constraint

2021 ◽  
Vol 11 (19) ◽  
pp. 8879
Author(s):  
Yasong Pu ◽  
Yaoyao Shi ◽  
Xiaojun Lin ◽  
Wenbin Zhang ◽  
Pan Zhao
Keyword(s):  
Motion Planning ◽  
Hermite Interpolation ◽  
Industrial Robot ◽  
Industrial Robots ◽  
Joint Motion ◽  
Quintic Polynomial ◽  
C2 Continuity ◽  
Planning Methods ◽  
Velocity Constraints ◽  
Point To Point

As for industrial robots’ point-to-point joint motion planning with constrained velocity, cubic polynomial planning has the problem of discontinuous acceleration; quintic polynomial planning requires acceleration to be specified in advance, which will likely cause velocity to fluctuate largely because appropriate acceleration assigned in advance is hardly acquired. Aiming at these problems, a modified cubic Hermite interpolation for joint motion planning was proposed. In the proposed methodology, knots of cubic Hermite interpolation need to be reconfigured according to the initial knots. The formulas for how to build new knots were put forward after derivation. Using the newly-built knots instead of initial knots for cubic Hermite interpolation, joint motion planning was carried out. The purpose was that the joint planning not only satisfied the displacement and velocity constraints at the initial knots but also guaranteed C2 continuity and less velocity fluctuation. A study case was given to verify the rationality and effectiveness of the methodology. Compared with the other two planning methods, it proved that the raised problems can be solved effectively via the proposed methodology, which is beneficial to the working performance and service life of industrial robots.

scholarly journals Maximizing the Coverage of Roadmap Graph for Optimal Motion Planning

Complexity ◽  
2018 ◽  
Vol 2018 ◽  
pp. 1-23 ◽  
Author(s):  
Jae-Han Park ◽  
Tae-Woong Yoon
Keyword(s):  
Motion Planning ◽  
Industry 4.0 ◽  
Industrial Robot ◽  
Efficient Solutions ◽  
Industrial Robots ◽  
Optimal Motion ◽  
Optimal Motion Planning ◽  
Planning Problems ◽  
Complex Planning ◽  
Satisfactory Quality

Automated motion-planning technologies for industrial robots are critical for their application to Industry 4.0. Various sampling-based methods have been studied to generate the collision-free motion of articulated industrial robots. Such sampling-based methods provide efficient solutions to complex planning problems, but their limitations hinder the attainment of optimal results. This paper considers a method to obtain the optimal results in the roadmap algorithm that is representative of the sampling-based method. We define the coverage of a graph as a performance index of its optimality as constructed by a sampling-based algorithm and propose an optimization algorithm that can maximize graph coverage in the configuration space. The proposed method was applied to the model of an industrial robot, and the results of the simulation confirm that the roadmap graph obtained by the proposed algorithm can generate results of satisfactory quality in path-finding tests under various conditions.

Path Planning with Motion Optimization for Car Body-in-White Industrial Robot Applications

2012 ◽  
Vol 605-607 ◽  
pp. 1595-1599 ◽  
Author(s):  
Pavol Božek ◽  
Kamil Trnka
Keyword(s):  
Motion Planning ◽  
Industrial Robot ◽  
Welding Process ◽  
Current Method ◽  
Industrial Robots ◽  
Motion Optimization ◽  
Body In White ◽  
Time And Energy ◽  
Simulation Systems ◽  
Robot Path

This paper discusses the problem of effective motion planning for industrial robots. The first part dealt with current method for off-line motion planning. In the second part the presented work is done by one of the simulation systems with automatic trajectory generation and off-line programming capability. A spot welding process is involved. The practical application of this step strongly depends on the method for robot path optimization with high accuracy, thus transform the path into a time and energy optimal robot program for the real world, which is discussed in the third step.

scholarly journals Motion Planning for Industrial Robots using Reinforcement Learning

Procedia CIRP ◽  
2017 ◽  
Vol 63 ◽  
pp. 107-112 ◽  
Author(s):  
Richard Meyes ◽  
Hasan Tercan ◽  
Simon Roggendorf ◽  
Thomas Thiele ◽  
Christian Büscher ◽  
...  
Keyword(s):  
Reinforcement Learning ◽  
Motion Planning ◽  
Industrial Robots

Motion Planning of Underwater Vehicle-Manipulator System with Joint Limit

2012 ◽  
Vol 220-223 ◽  
pp. 1767-1771 ◽  
Author(s):  
Ming Jun Zhang ◽  
Sheng Quan Peng ◽  
Zhen Zhong Chu ◽  
Yu Jia Wang
Keyword(s):  
Motion Planning ◽  
Potential Function ◽  
Orientation Angle ◽  
Underwater Vehicle ◽  
Initial Position ◽  
Joint Motion ◽  
Minimum Norm ◽  
Improved Method ◽  
Joint Velocity ◽  
Joint Limit

This paper studies motion planning of underwater vehicle-manipulator system (UVMS) based on weighted minimum norm method with joint limit. In response to the problem that joint motion is limited and cannot give full play to kinematical performance in the range of allowed orientation angle, existed in the traditional weighted minimum norm method for joint limit, an improved method about motion planning is proposed. By means of introducing threshold in the joint potential function to change the initial position where the joint velocity is limited, the method makes that joint is only limited between threshold and boundary when it moves from the middle position to bilateral boundaries. A simulation is carried out to verify the proposed motion planning method.

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