Smooth trajectory generation for industrial robots performing high precision assembly processes

Valente, Anna; Baraldo, Stefano; Carpanzano, Emanuele

doi:10.1016/j.cirp.2017.04.105

Cited by 44 publications

(19 citation statements)

References 16 publications

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“…A different approach is implemented in Refs. [52] and [53], where kinematic quantities are optimized in the joint space, based on a sine-jerk model for joint motion profiles, and the dynamic characteristics and limits of each joint are considered to enable an even distribution of workload along the kinematic chain. Manufacturing applications in which the robot is subjected to continuous, potentially strong excitations, for example, cold spray [54], could also benefit from path planning strategies that consider the stiffness variation across the whole task space.…”

Section: Path Planning Methodologiesmentioning

confidence: 99%

Robots in machining

et al. 2019

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Robotic machining centers offer diverse advantages: large operation reach with large reorientation capability, and a low cost, to name a few. Many challenges have slowed down the adoption or sometimes inhibited the use of robots for machining tasks. This paper deals with the current usage and status of robots in machining, as well as the necessary modelling and identification for enabling optimization, process planning and process control. Recent research addressing deburring, milling, incremental forming, polishing or thin wall machining is presented. We discuss various processes in which robots need to deal with significant process forces while fulfilling their machining task.

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Section: Path Planning Methodologiesmentioning

confidence: 99%

Robots in machining

et al. 2019

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“…Fang et al [10] proposed a method of expanding the three-phase sine jerk motion profile into a fifteen-phase sine jerk motion profile. Based on the research of Li and Fang, with the limit of each joint of the robot motion, Valente et al [11] proposed a multivariable time optimization method to plan the optimal trajectory of joint space on the three-phase sine jerk motion profile and made the running time of the trajectory shortest. To reduce the computation load of trajectory planning for online calculation of trajectory planning, some researchers adopt the method of piecewise interpolation.…”

Section: Introductionmentioning

confidence: 99%

Trajectory Optimization Algorithm for a 4-DOF Redundant Parallel Robot Based on 12-Phase Sine Jerk Motion Profile

Kang

Tang

et al. 2021

Actuators

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To improve high motion accuracy and efficiency in the high-speed operation of a 4-DOF (4 degrees of freedom) redundant parallel robot, this paper introduces a trajectory planning of the parallel robot in joint space based on the twelve-phase sine jerk motion profile. The 12-phase sine jerk motion profile utilizes the characteristics of a sine function. Furthermore, the penalty function is used to optimize the trajectory energy consumption under the constraint condition. The simulation and experimental results show that the energy consumption of joint space is slightly higher than that of the three-phase sine jerk motion profile, but the overall operation is more accurate and stable. Specifically, the sudden change of force and velocity in each joint is eliminated, which is the cause of mechanism oscillation. Moreover, the force of each joint is more average. The results indicate that each movement is closer to the maximum allowable limit and the running efficiency is higher.

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“…Optimizations of robotized workplaces to achieve the reduction of running costs are currently mostly realized in systems that are already in operation. These typically include modifications of the end-point trajectory according to a chosen criterion, such as the manipulation time [2,3] or the overall productivity and running costs of the robot [4].…”

Section: Introductionmentioning

confidence: 99%

Method for Robot Manipulator Joint Wear Reduction by Finding the Optimal Robot Placement in a Robotic Cell

et al. 2021

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We describe a method for robotic cell optimization by changing the placement of the robot manipulator within the cell in applications with a fixed end-point trajectory. The goal is to reduce the overall robot joint wear and to prevent uneven joint wear when one or several joints are stressed more than the other joints. Joint wear is approximated by calculating the integral of the mechanical work of each joint during the whole trajectory, which depends on the joint angular velocity and torque. The method relies on using a dynamic simulation for the evaluation of the torques and velocities in robot joints for individual robot positions. Verification of the method was performed using CoppeliaSim and a laboratory robotic cell with the collaborative robot UR3. The results confirmed that, with proper robot base placement, the overall wear of the joints of a robotic arm could be reduced from 22% to 53% depending on the trajectory.

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Smooth trajectory generation for industrial robots performing high precision assembly processes

Cited by 44 publications

References 16 publications

Robots in machining

Robots in machining

Trajectory Optimization Algorithm for a 4-DOF Redundant Parallel Robot Based on 12-Phase Sine Jerk Motion Profile

Method for Robot Manipulator Joint Wear Reduction by Finding the Optimal Robot Placement in a Robotic Cell

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