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Robot Position Optimization Based on Joint Mean Torque Norm

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Advances in Automation and Robotics Research in Latin America

Part of the book series: Lecture Notes in Networks and Systems ((LNNS,volume 13))

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Abstract

Optimal plant-floor robot positioning is a non-trivial task for robotic manufacturing. An unsuitable robot positioning may cost time and energy, which after thousands of cycles may be significant. The present article presents an approach to choose the robot base position through a numerical optimization tool. The problem may be defined as follows: given a set of constraints for the base placement of a serial robot, determine the base placement which requires minimum norm of the averaged absolute joint torques through a given set of trajectories in a process. In order to obtain the joint torques, the dynamic model of the robot is used, by means of the recursive Newton-Euler approach. Optimization process is based on a numerical software function. Additionally, trajectories are determined using polynomial interpolation for joints motion, assuring motor smoothness suitable for pick and place tasks.

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Authors and Affiliations

  1. UDESC, Joinville, Santa Catarina, Brazil

    Aníbal Alexandre Campos Bonilla, Leandro da Silva & Luis Eduardo Garcia Gonzalez

Authors
  1. Aníbal Alexandre Campos Bonilla
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  2. Leandro da Silva
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  3. Luis Eduardo Garcia Gonzalez
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Corresponding author

Correspondence to Luis Eduardo Garcia Gonzalez .

Editor information

Editors and Affiliations

  1. Facultad de Ingeniería Eléctrica (FIE), Universidad Tecnológica de Panamá , Panamá, Panama

    Ignacio Chang

  2. Computer Science Department, College of Information Science & Technology, University of Nebraska at Omaha, Omaha, Nebraska, USA

    José Baca

  3. Guadalupe C.P., Av. Barranquilla S/N, Col. Guadalupe C.P., Monclova, Coahuila, Mexico

    Héctor A. Moreno

  4. Guadalupe C.P., Av. Barranquilla S/N, Col. Guadalupe C.P., Monclova, Coahuila, Mexico

    Isela G. Carrera

  5. El Salvador, El Salvador

    Manuel N. Cardona

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Bonilla, A.A.C., da Silva, L., Gonzalez, L.E.G. (2017). Robot Position Optimization Based on Joint Mean Torque Norm. In: Chang, I., Baca, J., Moreno, H., Carrera, I., Cardona, M. (eds) Advances in Automation and Robotics Research in Latin America. Lecture Notes in Networks and Systems, vol 13. Springer, Cham. https://doi.org/10.1007/978-3-319-54377-2_1

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  • DOI: https://doi.org/10.1007/978-3-319-54377-2_1

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-54376-5

  • Online ISBN: 978-3-319-54377-2

  • eBook Packages: EngineeringEngineering (R0)

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