3D path planning for a biomass processing robot via motion simulation

Six motion strategies for a Cartesian 4-degrees-of-freedom (4-DOF) biomass processing robot were developed. Each of the corresponding trajectories consists of more than 1300 three-dimensional coordinate points. The motion strategies were evaluated due to their efficiency to select the most promising one for being embedded into the control system of the robot. For evaluation, an algorithm was developed calculating different evaluation parameters such as total cycle time, covered distance and no-load time. The best strategy was able to perform the task within 23 h. The total covered distance within this time period amounts to 33 km. The efficiency of the motion strategy in terms of load- and no-load time phases was ε=57% and has to be enhanced during further research. By doubling maximum velocity to 60 m min−1 in longitudinal direction (x) and to 20 m min−1 in transverse direction (y) the total cycle time would be reduced additionally by maximum 20%.