JOINT SPACE POINT-TO-POINT MOTION PLANNING FOR ROBOTS. AN INDUSTRIAL IMPLEMENTATION

摘要

A path-following algorithm for industrial robots is presented in this paper. The algorithm generates off-line a joint space point-to-point trajectory that, by exploiting knowledge of the dynamic model, takes into account the actuators' torque limits while preserving the geometric path. Due to the software characteristic of the specic industrial architecture, the trajectories adopt a trapezoidal velocity prole. The algorithm has been designed, implemented and extensively tested on a Comau SMART H4 robot, a closedchain six-degree-of-freedom industrial manipulator.