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Joint Space Point-To-Point Motion Planning for Robots. An Industrial Implementation

Authors:Antonelli Gianluca, Universita' degli Studi di Cassino, Italy
Chiaverini Stefano, Universita' degli Studi di Cassino, Italy
Palladino Marco, Consorzio C.R.E.A.T.E., Italy
Gerio GianPaolo, Comau S.p.A., Italy
Renga Gerardo, Comau S.p.A., Italy
Topic:4.3 Robotics
Session:Robot Control II
Keywords: Path Planning, Industrial Robots


A path-following algorithm for industrial robots is presented in this paper. The algorithm generates off-line avjoint space point-to-point trajectory that, by exploiting knowledge of the dynamic model, takes into account thevactuators' torque limits while preserving the geometric path. Due to the software characteristic of the specific industrial architecture, the trajectories adopt a trapezoidal velocity profile. The algorithm has been designed, implemented and extensively tested on a Comau SMART H4 robot, a closed-chain six-degree-of-freedom industrial manipulator.