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Proceedings Paper

Kinematically optimal robot placement for minimum time coordinated motion
Author(s): John T. Feddema
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Paper Abstract

This paper describes an algorithm for determining the optimal placement of a robotic manipulator within a workcell for minimum time coordinated motion. The algorithm uses a simple principle of coordinated motion to estimate the time of a joint interpolated motion. Specifically, the coordinated motion profile is limited by the slowest axis. Two and six degrees of freedom examples are presented. In experimental tests on a FANUC S-800 arm, the optimal placement of the robot can improve the cycle time of a robotic operation by as much as 25%. In high volume processes where the robot motion is currently the limiting factor, this increased throughput can result in substantial cost savings.

Paper Details

Date Published: 21 November 1995
PDF: 10 pages
Proc. SPIE 2596, Modeling, Simulation, and Control Technologies for Manufacturing, (21 November 1995); doi: 10.1117/12.227224
Show Author Affiliations
John T. Feddema, Sandia National Labs. (United States)

Published in SPIE Proceedings Vol. 2596:
Modeling, Simulation, and Control Technologies for Manufacturing
Ronald Lumia, Editor(s)

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