Real-time capable planning of optimized trajectories for sensor-guided kinematically redundant robot systems on industrial hardware

摘要

The automation of production processes in small and medium-sized companies requires systems that automatically adapt to varying workpieces and processing positions for the production of small quantities up to batch size 1. Industrial robots mounted on external positioning systems are used to process large components. The resulting kinematic redundancy of the entire motion systems is used to optimize the movements of the end effector with regard to various quality criteria. The required motion optimization must be implemented real-time capable and must be executable online on programmable logic controllers. This enables the use of the plant as a flexible manufacturing system with regard to customer-specific variant production and thus guarantees industrial acceptance. The paper presents the application of path welding, in which previously offline-planned welding paths are to be followed at a specified process speed. The redundancy of the system is used to avoid singularities. Futhermore, the distance between the robot-guided tool and the workpiece is sensed so that the movements along the tool path can be readjusted online and process-related deviations can be compensated.