Recent developments in industrial robotics use real-time trajectory modification to improve throughput and safety in automatic processes. Online trajectory scaling is often used to this purpose. In this paper, we propose a feedback trajectory scaling approach that is able to recover from the delay introduced by the speed modulation and improves the path-following performance thanks to an additional inner control loop. Simulation and experimental results on an industrial 6-degree-of-freedom robot show the effectiveness of the proposed approach compared to standard algorithms.

Real-time trajectory scaling for robot manipulators

Faroni M.;Pagani R.;Legnani G.
2020-01-01

Abstract

Recent developments in industrial robotics use real-time trajectory modification to improve throughput and safety in automatic processes. Online trajectory scaling is often used to this purpose. In this paper, we propose a feedback trajectory scaling approach that is able to recover from the delay introduced by the speed modulation and improves the path-following performance thanks to an additional inner control loop. Simulation and experimental results on an industrial 6-degree-of-freedom robot show the effectiveness of the proposed approach compared to standard algorithms.
978-1-7281-5715-3
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11379/535973
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