Table of Contents
Journal of Industrial Engineering
Volume 2013, Article ID 625638, 12 pages
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.

Supplementary Material

The video shows the described trajectory optimizations In a first step (Constant Trajectory Velocity), the robot moves on a straight line with constant velocity to show the path. The robot has to pass near a singular kinematic configuration. In this configuration the robot has to move very fast to stay on the line. The next phase of the video (Time Optimal Trajectory), described in chapter 5.3, shows the experimental results for the time optimal movement of the robot on the straight line, without violating maximal joint velocities, accelerations and motor torques. For the last part of the video (Time Optimal Point to-Point Trajectory), the constraint of moving on a straight line is given up, while again using the above physical constraints. The calculations are described in chapter 5.5.

  1. Supplementary Video