Point-to-point robot motion optimization based on the state parametrization

This paper presents a new practical approach for automatic synthesis of task-oriented optimal point-to-point motions of robots. The optimal trajectory planning can be viewed as a constrained dynamic optimization problem. The proposed procedure is based on the parametrization of the state functions. It considers all praxis relevant constraints imposed by the robot and the technology. The optimization criterion can be chosen among the minimum cycle time and the minimum mechanical stress. The procedure has been implemented within an off-line programming system for industrial applications. The efficiency of the procedure and the attainable benefits were verified on six-jointed robots using industrially relevant motion tasks. Using this method, much higher performance of motion behavior of industrial robots can be achieved and at the same time the programming expenditures can be reduced considerably.