Optimizing PTP Motions of Industrial Robots through Addition of Via-points

Zygimantas Ziaukas, Kai Eggers, Jens Kotlarski, Tobias Ortmaier

Abstract

This paper presents how the addition of via-points can improve the state-of-the-art trajectory planning towards lower energy consumption and/or lower travel time. In contrast to existing approaches using trajectory interpolation methods like B-splines, exclusively standard commands of commonly available robotic systems are used in order to get practicable results. The system’s energy demand for a given trajectory is determined based on a model of system energy characterized by low complexity. Trajectory profiles are obtained from original robot trajectory planning by using hardware in the loop. Therefore, results can directly be formulated in machine code. Experimental results demonstrate the effectiveness of the proposed approach. Depending on the given task, energy savings up to 17.3% at equal travel time and time savings up to 13.3% compared to initial PTP motion are possible. The approaches presented are applicable to any robotic application that utilizes PTP motions, e. g. pick-and-place or spot welding tasks.

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Paper Citation


in Harvard Style

Ziaukas Z., Eggers K., Kotlarski J. and Ortmaier T. (2017). Optimizing PTP Motions of Industrial Robots through Addition of Via-points . In Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-264-6, pages 527-538. DOI: 10.5220/0006396005270538


in Bibtex Style

@conference{icinco17,
author={Zygimantas Ziaukas and Kai Eggers and Jens Kotlarski and Tobias Ortmaier},
title={Optimizing PTP Motions of Industrial Robots through Addition of Via-points},
booktitle={Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2017},
pages={527-538},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006396005270538},
isbn={978-989-758-264-6},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Optimizing PTP Motions of Industrial Robots through Addition of Via-points
SN - 978-989-758-264-6
AU - Ziaukas Z.
AU - Eggers K.
AU - Kotlarski J.
AU - Ortmaier T.
PY - 2017
SP - 527
EP - 538
DO - 10.5220/0006396005270538