Poses Optimisation Methodology for High Redundancy Robotic Systems

Abstract

The need for efficient automation methods has prompted the fast development in the field of Robotics. However, most robotic solutions found in industrial environments lack in both flexibility and adaptability to be applied to any generic task. A particular problem arises when robots are integrated in work cells with extra degrees of freedom, such as external axis or positioners. The specification/design of high redundancy systems, including robot selection, tool and fixture design, is a multi-variable problem with strong influence in the final performance of the work cell. This work builds on top of optimisation techniques to deal with the optimal poses reachability for high redundancy robotic systems. In this paper, it will be proposed a poses optimisation approach to be applicable within high redundancy robotic systems. The proposed methodology was validated by using real environment existent infrastructures, namely, the national CoopWeld project.

Optimal automatic path planner and design for high redundancy robotic systems

“…A cost function was developed based on seven features. This work is a self-improvement of one previously published by our group (Tavares et al , 2018).…”

“…To face the proposed challenge, four mains optimization techniques were selected: Linear scanning, genetic algorithms, simulated annealing and potential fields. The relevance of each one has been discussed previously (Tavares et al , 2018). Nevertheless, it is important to revisit these results.…”

“…Focusing on the specification for the optimization algorithm, it is important to recapture its key stages and features. Previously in the already mention work (Tavares et al , 2018), the hypotheses were tested considering a six feature cost function that intended to minimize efforts and maximize the number of current and future poses. An extra feature was inserted to consider dynamic constraints (velocity and force minimization).…”