Table of Contents
Journal of Industrial Engineering
Volume 2013 (2013), Article ID 625638, 12 pages
http://dx.doi.org/10.1155/2013/625638
Research Article

Optimizing Industrial Robots for Accurate High-Speed Applications

Institute for Robotics, Johannes Kepler University, Altenbergerstraße 69, 4040 Linz, Austria

Received 26 September 2012; Revised 14 December 2012; Accepted 13 January 2013

Academic Editor: Aydin Nassehi

Copyright © 2013 Hubert Gattringer et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

Abstract

Today’s standard robotic systems often do not meet the industry’s demands for accurate high-speed robotic applications. Any machine, be it an existing or a new one, should be pushed to its limits to provide “optimal” efficiency. However, due to the high complexity of modern applications, a one-step overall optimization is not possible. Therefore, this contribution introduces a step-by-step sequence of multiple nonlinear optimizations. Included are optimal configurations for geometric calibration, best-exciting trajectories for parameter identification, model-based control, and time/energy optimal trajectory planning for continuous path and point-to-point trajectories. Each of these optimizations contributes to the improvement of the overall system. Existing optimization techniques are adapted and extended for use with a standard industrial robot scenario and combined with a comprehensive toolkit with discussions on the interplay between the separate components. Most importantly, all procedures are evaluated in practical experiments on a standard robot with industrial control hardware and the recorded measurements are presented, a step often missing in publications in this area.