Cartesian space motion planning for robots. An industrial implementation

This work presents an industrial implementation of a minimum time path-following algorithm. The proposed algorithm handles Cartesian-space based trajectories that exhibit a trapezoidal velocity profile; point-to-point linear and circular motions as well as fly movements are considered. The proposed solution works off-line, is based on the knowledge of the dynamic-model and is not iterative; moreover, the computational burden is kept limited by suitable simplifications. The development and testing has been achieved considering a Comau SMART H4 robot, a closed-chain six-degree-of-freedom industrial manipulator.