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Redundant robot trajectory optimization via a kinematic approximation approach

Year: 2024

Type: conference-paper

Abstract: Many industrial robot applications are functionally redundant, so the robot kinematic chain has more degrees of freedom than the ones required by the task. This feature can be exploited to optimize the task by choosing convenient robot configurations at the working points, according to a design goal. In this paper, the case of a SCARA robot performing a redundant task along an assigned path is considered. A novel trajectory optimization technique is presented, which relies on the kinematic model and on the choice of a single parameter, thus reducing the computational effort. Numerical results are discussed.

Source: Zenodo (CERN European Organization for Nuclear Research)

DOI: 10.5281/zenodo.14731149

Authors: Rosati, Giulio, Tonan, Michele, Bottin, Matteo

Language: English

Topic: Robotic Mechanisms and Dynamics

Subfield: Control and Systems Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: green

OpenAlex ID: W6930523576

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