Kinematically optimal robot placement for minimum time coordinated motion

John T. Feddema

doi:10.1117/12.227224

21 November 1995 Kinematically optimal robot placement for minimum time coordinated motion

John T. Feddema

Proceedings Volume 2596, Modeling, Simulation, and Control Technologies for Manufacturing; (1995) https://doi.org/10.1117/12.227224
Event: Photonics East '95, 1995, Philadelphia, PA, United States

Abstract

This paper describes an algorithm for determining the optimal placement of a robotic manipulator within a workcell for minimum time coordinated motion. The algorithm uses a simple principle of coordinated motion to estimate the time of a joint interpolated motion. Specifically, the coordinated motion profile is limited by the slowest axis. Two and six degrees of freedom examples are presented. In experimental tests on a FANUC S-800 arm, the optimal placement of the robot can improve the cycle time of a robotic operation by as much as 25%. In high volume processes where the robot motion is currently the limiting factor, this increased throughput can result in substantial cost savings.

Citation Download Citation

John T. Feddema "Kinematically optimal robot placement for minimum time coordinated motion", Proc. SPIE 2596, Modeling, Simulation, and Control Technologies for Manufacturing, (21 November 1995); https://doi.org/10.1117/12.227224

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