Time-Optimal Point-To-Point Motion Planning and Assembly Mode Change of Cuspidal Manipulators: Application to 3R and 6R Robots
Sprache des Titels:
Englisch
Original Buchtitel:
2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Original Kurzfassung:
The kinematics of cuspidal 3R regional robots was
studied extensively in the past. Moreover, certain industrial
6R robots were found to be cuspidal (e.g. Fanuc CRX series,
Kinova GEN2), which makes cuspidal robots finally interesting
for practical applications. This necessitates optimal trajectory
planning, respecting the dynamics and technical limits of the
particular robot. In this paper, a method for singularity-free
time-optimal point-to-point trajectory (PtP) trajectory planning
is proposed. As a special case, this method is applicable to timeoptimal
singularity-free assembly mode changing. Results are
shown for 3R robots and a 6R Fanuc CRX10iA/L.