Elliptical point to point trajectory planning using electronic cam motion profiles for high speed industrial pick and place robots

Authors:
R. J. Moreno Masey;J. O. Gray;T. J. Dodd;D. G. Caldwell
Affiliations:
Italian Institute of Technology, Genoa, Italy and Department of Automatic Control and Systems Engineering, University of Sheffield, UK;Italian Institute of Technology, Genoa, Italy;Department of Automatic Control and Systems Engineering, University of Sheffield, UK;Italian Institute of Technology, Genoa, Italy
Venue:
ETFA'09 Proceedings of the 14th IEEE international conference on Emerging technologies & factory automation
Year:
2009

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Abstract

As the speed of industrial pick and place robots continues to increase, new trajectory planning strategies will need to be developed in order to optimise the dynamic characteristics of high speed motion. The use of elliptical pick and place cycles coupled with a Modified Sine cam motion profile is proposed and compared to the traditional rectangular cycle with trapezoidal velocity profile. The elliptical cycle exhibits very smooth, continuous motion curves. Asymmetric acceleration can optionally be specified to reduce peak joint torques and increase maximum pick and place speed.