Optimizing PTP motions of industrial robots through addition of via-points

authored by

Zygimantas Ziaukas, Kai Eggers, Jens Kotlarski, Tobias Ortmaier

Abstract

This paper presents how the addition of via-points can improve the state-of-the-art trajectory planning towards lower energy consumption and/or lower travel time. In contrast to existing approaches using trajectory interpolation methods like B-splines, exclusively standard commands of commonly available robotic systems are used in order to get practicable results. The system's energy demand for a given trajectory is determined based on a model of system energy characterized by low complexity. Trajectory profiles are obtained from original robot trajectory planning by using hardware in the loop. Therefore, results can directly be formulated in machine code. Experimental results demonstrate the effectiveness of the proposed approach. Depending on the given task, energy savings up to 17.3% at equal travel time and time savings up to 13.3% compared to initial PTP motion are possible. The approaches presented are applicable to any robotic application that utilizes PTP motions, e. g. pick-and-place or spot welding tasks.

Organisation(s)

Institute of Mechatronic Systems

Type

Conference contribution

Pages

527-538

No. of pages

12

Publication date

2017

Publication status

Published

Peer reviewed

Yes

ASJC Scopus subject areas

Computer Vision and Pattern Recognition, Control and Systems Engineering

Sustainable Development Goals

SDG 7 - Affordable and Clean Energy

Electronic version(s)

https://doi.org/10.5220/0006396005270538 (Access: Open)