Title :
Designing robots for optimal performance during repetitive motion
Author :
Agrawal, Sunil K. ; Veeraklaew, Tawiwat
Author_Institution :
Dept. of Mech. Eng., Delaware Univ., Newark, DE, USA
fDate :
10/1/1998 12:00:00 AM
Abstract :
As robots assume more important roles in flexible manufacturing environments, they are expected to perform repeated motions while being able to quickly adapt to changes in the assembly line. It can not be ignored that the parameters of the robot influence the cost per cycle. This cost gets multiplied by the number of cycles to result in the operational cost over time. However, today, no attempts are made to design robots so that their parameters could be adjusted to the optimal values for a repeated sequence of motion. We propose a technique to identify the optimal parameters of a robot for a motion sequence between two given states in a prescribed time such that a cost functional is minimized. This proposed technique of solving this problem is new and does not use Lagrange multipliers. It is computationally efficient and the optimal parameters can be identified quickly. As a result, the parameters of a robot could be altered online in the execution of new sequences of motion
Keywords :
algebra; assembling; flexible manufacturing systems; industrial robots; optimisation; robot dynamics; assembly line; cost per cycle; flexible manufacturing environments; motion sequences; optimal performance; repetitive motion; Control systems; Cost function; Design optimization; Differential equations; Flexible manufacturing systems; Lagrangian functions; Mechanical systems; Robot kinematics; Robot sensing systems; Robotic assembly;
Journal_Title :
Robotics and Automation, IEEE Transactions on