Optimal Path Planning Algorithm with Built-In Velocity Profiling for Collaborative Robot.

ABSTRACT: This paper proposes a method for solving the path planning problem for a collaborative robot. The time-optimal, smooth, collision-free B-spline path is obtained by the application of a nature-inspired optimization algorithm. The proposed approach can be especially useful when moving items that are delicate or contain a liquid in an open container using a robotic arm. The goal of the optimization is to obtain the shortest execution time of the production cycle, taking into account the velocity, velocity and jerk limits, and the derivative continuity of the final trajectory. For this purpose, the velocity profiling algorithm for B-spline paths is proposed. The methodology has been applied to the production cycle optimization of the pick-and-place process using a collaborative robot. In compa

SUBMITTER: Szczepanski R 

PROVIDER: S-EPMC11359329 | biostudies-literature | 2024 Aug

REPOSITORIES: biostudies-literature