Time-Optimal Point-To-Point Motion Planning and Assembly Mode Change of Cuspidal Manipulators: Application to 3R and 6R Robots
Tobias Marauli, Durgesh Haribhau Salunkhe, Hubert Gattringer, Andreas Müller, Damien Chablat, Philippe Wenger
Abstract
The kinematics of cuspidal 3R regional robots was studied extensively in the past. Moreover, certain industrial 6R robots were found to be cuspidal (e.g. Fanuc CRX series, Kinova GEN2), which makes cuspidal robots finally interesting for practical applications. This necessitates optimal trajectory planning, respecting the dynamics and technical limits of the particular robot. In this paper, a method for singularity-free time-optimal point-to-point trajectory (PtP) trajectory planning is proposed. As a special case, this method is applicable to time-optimal singularity-free assembly mode changing. Results are shown for 3R robots and a 6R Fanuc CRX10iA/L.
BibTeX
@inproceedings{iros2023_timeoptimalpoint,
title = {Time-Optimal Point-To-Point Motion Planning and Assembly Mode Change of Cuspidal Manipulators: Application to 3R and 6R Robots},
author = {Tobias Marauli and Durgesh Haribhau Salunkhe and Hubert Gattringer and Andreas Müller and Damien Chablat and Philippe Wenger},
booktitle = {IROS 2023},
year = {2023}
}