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The Influence of Friction on Time Optimal Robot Trajectories

B. Hartel, M. C. Steinbach, H. G. Bock, R. W. Longman

Abstract: By making use of time optimal control, robot path planning can increase the speed of robots on assembly lines. This can allow assembly lines to operate at higher speeds with increased productivity. In a series of papers the authors have developed an overview of the nature of time optimal trajectories for various kinds of robots. Here we introduce friction into the robot model to understand the effect it has on time optimal solutions. One might expect that friction would simply slow down the robot. Here we see that under appropriate conditions friction can actually allow a robot to operate faster. Polar coordinate robots are studied, and a series of maneuvers are treated that allow one to understand the way in which different joint motors help each other to produce minimum time trajectories.


Questions to: Marc C. Steinbach