Mechanical assessment of time optimal robot motion

摘要

The use of time optimal path planning can speed up robots on assembly lines and allow them to run faster, increasing their productivity. This paper seeks to develop a more complete understanding of the nature of time-optimal point-to-point trajectories for polar coordinate robots and intends to show how effective direct numerical methods are in computing optimal control solutions, including the resolution of complicated motor switching structures. In time optimal robot point-to-point motion there is generically one robot axis that has the hardest time reaching its endpoint. And then, to whatever extent other axes have extra freedom, it must be used to help the axis with the hardest task, whenever possible. Such assistance makes use of different mechanical interaction forces and effects. In this paper we examine one basis type of robot, the polar coordinate robot, and analyze all types of forces during optimal motions, in order to develop an understanding of optimal maneuvers.