Minimization of joint velocities during the execution of a robotic task by a 6 dof articulated manipulator
Advances in Service and Industrial Robotics: Proceedings of the 27th …, 2019•Springer
The optimal positioning of tasks in robot applications is an extremely important step in the
design of robotic work cells as it will allow the system to achieve the required high
performance given the selected performance measure. In this work the optimal positioning of
a robotic task is presented with the aim to minimize the required joint velocities required
during task execution, for a 6 DoF manipulator. The method is used to determine the optimal
location for a path following task in the workspace of a UR-5 manipulator. Results show that …
design of robotic work cells as it will allow the system to achieve the required high
performance given the selected performance measure. In this work the optimal positioning of
a robotic task is presented with the aim to minimize the required joint velocities required
during task execution, for a 6 DoF manipulator. The method is used to determine the optimal
location for a path following task in the workspace of a UR-5 manipulator. Results show that …
Abstract
The optimal positioning of tasks in robot applications is an extremely important step in the design of robotic work cells as it will allow the system to achieve the required high performance given the selected performance measure. In this work the optimal positioning of a robotic task is presented with the aim to minimize the required joint velocities required during task execution, for a 6 D.o.F. manipulator. The method is used to determine the optimal location for a path following task in the workspace of a UR-5 manipulator. Results show that the optimal task placement allows for a significant reduction of joint velocities to maintain a given constant end effector velocity during task execution.
Springer
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