Optimal Motion Trajectory Generation and Real-Time Trajectory Modification for an Industrial Robot Working in a Rectangular Space

Uchiyama, Naoki; Mori, Kazuhiko; Terashima, Kazuhiko; Saeki, Toru; Kamigaki, Toshio; Kawamura, Hirotoshi

doi:10.1299/jsdd.7.278

Cited by 10 publications

(3 citation statements)

References 23 publications

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“…1 for an actual industrial robot in the previous paper [31], and showed the effectiveness of the simple model for the industrial robot (although controller design is different from that in this paper). Application of the presented condition to the industrial robot is left for future work.…”

Section: Resultsmentioning

confidence: 62%

Residual Vibration Suppression Using Simple Motion Trajectory for Mechanical Systems

Uchiyama

Sano

Haneda

2015

SICE Journal of Control, Measurement, and System Integration

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: This paper proposes motion-trajectory generation for mechanical systems that can be widely used in industrial applications. Many industrial systems, such as feed drive tables, gantry cranes, and material handling systems, are operated using S-curve acceleration and deceleration trajectory, and simple controllers that allow only such a simple motion trajectory are employed from the viewpoints of controller hardware and implementation cost efficiency. This study deals with simple mechanical dynamics including vibration properties and derives a necessary and sufficient condition for the motion trajectory to suppress residual vibration. Simulation and experimental results demonstrate the validity of the proposed conditions.

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Section: Resultsmentioning

confidence: 62%

Residual Vibration Suppression Using Simple Motion Trajectory for Mechanical Systems

Uchiyama

Sano

Haneda

2015

SICE Journal of Control, Measurement, and System Integration

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“…Altintas and Erkorkmaz [31] presented a method for time-optimal feed rate scheduling, specifically tailored for the quantic spline toolpath. Mori et al [32] introduced a time-optimal path planning technique that considers the second-order dynamics of feed drives during the traversal of contour curves. Dong et al [33] suggested an algorithm to optimize the time allocation for jerk-limited feed rates along the parametric curves.…”

Section: Introductionmentioning

confidence: 99%

Non-Cutting Moving Toolpath Optimization with Elitist Non-Dominated Sorting Genetic Algorithm-II

Demir,

Acar Vural

2024

Applied Sciences

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Path planning (PP) is fundamental in the decision-making and control processes of computer numerical control (CNC) machines, playing a critical role in smart manufacturing research. Apart from improving optimization in PP, enhancing efficiency while decreasing CNC machine cycle time is important in manufacturing. Many methods have been offered in the literature to improve the cycle time for obtaining optimal trajectories in toolpath optimization, but these methods are mostly considered for improvements in path length or machining time in optimal PP. This study demonstrates a method for creating a smoothing path. It aims to minimize both cycle time and toolpath length, while demonstrating that the non-dominated sorting genetic algorithm (NSGA-II) is efficient in addressing the multi-objective PP problems within static situations. Pareto optimality for performance comparisons with multi-objective genetic algorithms (MOGAs) is presented in order to highlight the positive features of the non-dominant solving generated by the NSGA-II. According to the comprehensive analysis results, the optimization of the path carried out with the NSGA-II emphasizes its shorter and smoother attributes, with the optimal trajectory achieving approximately 30% and 7% reductions in path length and machining cycle time, respectively.

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“…Feedforward compensation strategies such as iterative learning control [8], [9] and neural networks and reinforcement learning [10] are proposed for error reduction. A time-optimal trajectory generation approach with consideration to obstacles and dynamic limits is proposed by Uchiyama et al for robotic manipulators [11]. Sencer et al propose time-optimal feed scheduling along B-spline tool paths for 5-axis CNC machine tools [12].…”

Section: Introductionmentioning

confidence: 99%

Pareto Optimization of Cycle Time and Motion Accuracy in Trajectory Planning for Industrial Feed Drive Systems

Nshama

Uchiyama

2021

IEEE Access

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Manufacturing industries aim to improve product quantity and quality. These trade-off objectives are typically manifested as cycle time reduction and motion accuracy improvement. Corner smoothing approaches that reduce the cycle time of piecewise linear trajectories are proposed in the literature. This study tackles the two objectives by Pareto-optimal corner smoothing with constraints imposed as kinematic limits, continuity conditions and user-specified cornering tolerance. Linear and cornering motions along a contour are respectively described by jerk-limited acceleration profiles and a modified kinematic corner smoothing with interrupted acceleration (KCSIA) approach. A Pareto frontier is generated by the divide and conquer algorithm with the best trade-off solution selected as the one closest to the utopia point. The effectiveness of the proposed method is validated through experiments, where the best trade-off solution reduces the maximum and average contouring errors by 47.53 % and 25.40 % while it increases cycle time by 2.53 % compared to KCSIA.

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Optimal Motion Trajectory Generation and Real-Time Trajectory Modification for an Industrial Robot Working in a Rectangular Space

Cited by 10 publications

References 23 publications

Residual Vibration Suppression Using Simple Motion Trajectory for Mechanical Systems

Residual Vibration Suppression Using Simple Motion Trajectory for Mechanical Systems

Non-Cutting Moving Toolpath Optimization with Elitist Non-Dominated Sorting Genetic Algorithm-II

Pareto Optimization of Cycle Time and Motion Accuracy in Trajectory Planning for Industrial Feed Drive Systems

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