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Optimization of Cartesian Tasks with Configuration Selection

  • A basic task in the design of an industrial robot application is the relative placement of robot and workpiece. Process points are defined in Cartesian coordinates relative to the workpiece coordinate system, and the workpiece has to be located such that the robot can reach all points. Finding such a location is still an iterative procedure based on the developers' intuition. One difficulty is the choice of one of the several solutions of the backward transform of a typical 6R robot. We present a novel algorithm that simultaneously optimizes the workpiece location and the robot configuration at all process points using higher order optimization algorithms. A key ingredient is the extension of the robot with a virtual prismatic axis. The practical feasibility of the approach is shown with an example using a commercial industrial robot.

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Metadaten
Author:Martin Georg WeißORCiD
URN:urn:nbn:de:bvb:898-opus4-20176
URL / DOI:https://arxiv.org/pdf/1811.07137.pdf
Document Type:Preprint
Language:English
Year of first Publication:2021
Publishing Institution:Ostbayerische Technische Hochschule Regensburg
Release Date:2021/07/08
Tag:optimization; robotics
GND Keyword:Intralogistik; Industrieroboter; Programmgenerierung; Nichtlineare Optimierung
Institutes:Fakultät Informatik und Mathematik
research focus:Information und Kommunikation
OpenAccess Publikationsweg:Diamond Open Access - OA-Veröffentlichung ohne Publikationskosten (Sponsoring)