Reference Trajectory Optimization for an Industrial Robot

摘要

In this paper a novel approach for the industrial robot reference trajectory optimization is presented. The proposed method ensures that predefined accuracy is met, data complexity is reduced and transfer time from an external device to the robot's controller is minimized. Various approximation algorithms for the desired motion trajectory are considered. In order to determine the most suitable one quantitative criteria is proposed, enabling high performance of an industrial robot while limiting deviations from the given trajectory. The experiment was conducted using collaborative industrial robot YuMi (ABB). It was shown that the proposed Q criterion of optimality provides deterministic rules and ranking for choosing an appropriate approximation algorithm.