Optimization of Robot Program with Consideration of Manipulability and Workpiece Placement
Yuta Sato and Koichi Morishige
Proceedings of The 16th International Conference on Precision Engineering (ICPE 2016),
B208-8130 (Hamamatsu city, Shizuoka, Japan, November 14-15, 2016)
Off-line teaching systems are becoming a mainstream for making robot program instead of teaching playback systems that
require workerfs operation using a special control device. The off-line teaching systems have enabled to make the program on a
computer and to simulate the robot motion for checking the program. However, in order to make an optimal program with
consideration of prevention of sudden change in robot posture, avoidance of singularity, and optimization of workpiece placement,
the operator must make the program by a lot of trial and error operations. In this research, we propose an optimization method of
robot motion and workpiece placement. The method is based on manipulability that measures the manipulating ability of robot,
and maximizes the manipulability of postures in a robot program. As the result, we had confirmed the effectiveness of the proposed
method by applying to an actual polishing process.
http://www.ims.mce.uec.ac.jp/
Last updated on April 3, 2017 by
www-admin@ims.mce.uec.ac.jp