Optimizing Industrial Robots for Accurate High-Speed Applications

الملخص EN

Today’s standard robotic systems often do not meet the industry’s demands for accurate high-speed robotic applications.

Any machine, be it an existing or a new one, should be pushed to its limits to provide “optimal” efficiency.

However, due to the high complexity of modern applications, a one-step overall optimization is not possible.

Therefore, this contribution introduces a step-by-step sequence of multiple nonlinear optimizations.

Included are optimal configurations for geometric calibration, best-exciting trajectories for parameter identification, model-based control, and time/energy optimal trajectory planning for continuous path and point-to-point trajectories.

Each of these optimizations contributes to the improvement of the overall system.

Existing optimization techniques are adapted and extended for use with a standard industrial robot scenario and combined with a comprehensive toolkit with discussions on the interplay between the separate components.

Most importantly, all procedures are evaluated in practical experiments on a standard robot with industrial control hardware and the recorded measurements are presented, a step often missing in publications in this area.