The paper proposes an off-line robot motion planning approach, aimed at the reduction of the energy consumption, for any trajectory defined on a set of target points including some "fly" ones, i.e., points that must not be exactly reached by the robot. The proposed solution is based on the search for alternative paths close to the fly target points originally defined by the operator, and on the computation of the mechanical and total energy associated to each single possible motion defined for the generated alternative paths. A branch and bound algorithm is employed to scan all the possible motions and find the complete trajectory that corresponds to the minimum energy consumption. The approach has been implemented in a software architecture that exploits some COMAU software modules, but it could be easily adapted to generic, similar modules. The results that have been experimentally obtained for two typical industrial cycles, performed by a COMAU Racer robot, can be considered as very satisfying.
Robot interaction with the surrounding environment is an important and newsworthy problem in the context of industrial and service robotics. Collision avoidance gives the robot the ability to avoid contacts with objects around it, but most of the industrial controls implementing collision avoidance checks only the robot Tool Center Point (TCP) over the objects in the cell, without taking into account the shape of the tool, mounted on the robot flange. In this paper a novel approach is proposed, based on an accurate 3D simulation of the robotic cell. A distributed real time computing approach has been chosen to avoid any overloading of the robot controller. The simulator and the client application are implemented in a personal computer, connected via a TCP-IP socket to the robot controller, which hosts and manages the anti-collision policies, based on a proper speed override control. The real time effectiveness of the proposed approach has been confirmed by experimental tests, carried out for a real industrial setup in two different scenarios.
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