Paper Info
Title
Kinematically optimal robot placement for minimum time coordinated motion
Abstract
This paper describes an algorithm for determining the optimal placement of a robotic manipulator within a workcell for minimum time coordinated motion. The algorithm uses a simple principle of coordinated motion to estimate the time of a joint interpolated motion. Specifically, the coordinated motion profile is limited by the slowest axis. Two and six degree of freedom (DOF) examples are presented. In experimental tests on a FANUC S-800 arm, the optimal placement of the robot can improve cycle time of a robotic operation by as much as 25%. In high volume processes where the robot motion is currently the limiting factor, this increased throughput can result in substantial cost savings
Year
DOI
Venue
1996
10.1109/ROBOT.1996.509229
Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference
Keywords
DocType
Volume
industrial manipulators,manipulator kinematics,optimisation,search problems,fanuc s-800 arm,high volume processes,joint interpolated motion,kinematically optimal robot placement,minimum time coordinated motion,optimal placement,robotic manipulator
Conference
4
ISSN
ISBN
Citations 
1050-4729
0-7803-2988-0
3
PageRank 
References 
Authors
0.46
0
1
Name
Order
Citations
PageRank
Feddema, J.T.1391107.65