MOTION AND ENERGY OPTIMIZATION OF VISION GUIDED MANIPULATOR FOR OPTIMAL DYNAMIC PERFORMANCE

This paper presents a step on how to optimize the energy and performance of an industrial robot. The project consist of three major phases; (1) theoretical, simulation and practical of forward and inverse kinematics for Fanuc LR Mate 200iB robot to determine their D-H parameters, (2) optimization of robot movements, and (3) implementation of practical tasks. The optimization process involves the control of two parameters known as position of joint angle (q) and speed of the motor (w) of the three (3) main axes of the robot. The energy is measured regarding 3 types of categorized movements known as reference, fixed and optimized which do the same repetitive task. Its forward and inverse kinematics problems will be simulated using Robotic tools of Matlab 7.0 and Roboguide V2.3.2. The simulation results will be compared with the real practical movements. This paper will describe the techniques, calculations and methods on how the second phase was done.