Teaching Support System of Transit Motion for Industrial Robot Manipulator

摘要

The system that support the teaching operation of transit motion is proposed. It choose a parabolic curve as the transit motion segment. Taking into account the kinematic parameters and the ability of actuators for robot manipulator, it computes the maximum value of velocity in every transit motion segment and recalculates them by comparing either of neighboring velocities to globally optimize the all parts of trajectory. The merits of the this system are that it can easily realize the smooth motion, and set the desired path error to some extent, and minimize the task time, The validity of this teaching support system was examined by a 6 degree-of-freedom industrial robot manipulator.