Programmierung und Führung von Roboterbewegungen

Summary

This paper deals with the calculation of the reference input of a industrial robot controller. Treated in detail are the problems of the transformation of coordinates, particularly from “world”-coordinate systems into the joint coordinate systems. These transformations are an essential part for the calculation of reference input of industrial robots. They are necessary if using external sensors as well as teaching the robot using external coordinate systems. Hereby it is shown that the configuration of robots (number of joints, prismatic or revolute joints, arrangement of joints) makes a considerable difference for the solvability respectively for the fast and exact solution of the coordinate transformation.

A further crucial point treated in this paper is the calculation of robot paths. Depending on intermediate path points, forbidden areas and given velocities the paths of robot motions are computed. For the trajectories of the robot motions polynomials are determined. Determining these polynomials various optimization criteria (length, time, energy consumption, minimum stress imposed on material) can be taken into consideration.