Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
5128677 | Procedia Manufacturing | 2017 | 10 Pages |
Abstract
This paper presents a novel robot simulation tool, fully interfaced with a common Robot Offline Programming software (i.e. Delmia Robotics), which allows to automatically compute energy-optimal motion parameters, for a given end-effector path, by tuning the joint speed/acceleration during point-to-point motions whenever allowed by the manufacturing constraints. The main advantage of this method, as compared to other optimization routines that are not conceived for a seamless integration with commercial industrial manipulators, is that the computed parameters are the same required by the robot controls, so that the results can generate ready-to-use energy-optimal robot code.
Related Topics
Physical Sciences and Engineering
Engineering
Industrial and Manufacturing Engineering
Authors
Michele Gadaleta, Giovanni Berselli, Marcello Pellicciari, Mario Sposato,