Optimizing industry robot for maximum speed with high accuracy

摘要

This article describes design of algorithm for finding maximum possible speed. Maximum speed of robot's endpoint is 4.4 meters per second, but this speed is achieved rarely by the robot. Robot name is MELFA RV-2DB. Robot has integrated development environment with name RT-TooIbox2. Robot maximum speed is under 1 meter per second in motions, where the trajectory is important. Algorithm analyzes and designs speed optimizing motions on high accuracy motions. Circular motions and motions on straight line require high accuracy of trajectory. In these types of motion trajectory is important. I also describe results and analyses of proposed algorithm in this paper.