Elliptical point to point trajectory planning using electronic cam motion profiles for high speed industrial pick and place robots

Author

Masey, R. J Moreno ; Gray, John O. ; Dodd, T.J. ; Caldwell, Darwin G.

Author_Institution

Italian Inst. of Technol., Genoa, Italy

fYear

2009

fDate

22-25 Sept. 2009

Firstpage

1

Lastpage

8

Abstract

As the speed of industrial pick and place robots continues to increase, new trajectory planning strategies will need to be developed in order to optimise the dynamic characteristics of high speed motion. The use of elliptical pick and place cycles coupled with a Modified Sine cam motion profile is proposed and compared to the traditional rectangular cycle with trapezoidal velocity profile. The elliptical cycle exhibits very smooth, continuous motion curves. Asymmetric acceleration can optionally be specified to reduce peak joint torques and increase maximum pick and place speed.

Keywords

industrial robots; path planning; asymmetric acceleration; electronic cam motion profiles; elliptical cycle; high speed industrial robots; peak joint torques; speed motion; trajectory planning; trapezoidal velocity profile; Acceleration; Electronics industry; Industrial electronics; Motion planning; Path planning; Production; Service robots; Shape; Throughput; Trajectory;

fLanguage

English

Publisher

ieee

Conference_Titel

Emerging Technologies & Factory Automation, 2009. ETFA 2009. IEEE Conference on

Conference_Location

Mallorca

ISSN

1946-0759

Print_ISBN

978-1-4244-2727-7

Electronic_ISBN

1946-0759

Type

conf

DOI

10.1109/ETFA.2009.5347093

Filename

5347093