SmartMove4: an industrial implementation of trajectory planning for robots
Abstract
Purpose
A minimum‐time path‐following algorithm for industrial robots is presented in this paper.
Design/methodology/approach
The algorithm generates off‐line a trajectory that, by exploiting knowledge of the dynamic model, takes into account the actuators' torque limits while preserving the geometric path.
Findings
The algorithm has been designed, implemented and extensively tested on a Comau SMART H4 robot, a closed‐chain six‐degree‐of‐freedom industrial manipulator.
Practical implications
The algorithm is currently part of the new generation of industrial controllers of the Comau robots, the C4G controller. It is a feature added as with the name SmartMove4.
Originality/value
The paper presents a new minimum‐time path‐following algorithm for industrial robots that, by exploiting knowledge of the dynamic model, takes into account the actuators' torque limits while preserving the geometric path.
Keywords
Citation
Antonelli, G., Chiaverini, S., Paolo Gerio, G., Palladino, M. and Renga, G. (2007), "SmartMove4: an industrial implementation of trajectory planning for robots", Industrial Robot, Vol. 34 No. 3, pp. 217-224. https://doi.org/10.1108/01439910710738854
Publisher
:Emerald Group Publishing Limited
Copyright © 2007, Emerald Group Publishing Limited