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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 workerfs 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.


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