Kinematically optimal robot placement for minimum time coordinated motion

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This paper describes an algorithm for determining the optimal placement of a robotic manipulator within a workcell for minimum time coordinated motion. The algorithm uses a simple principle of coordinated motion to estimate the time of a joint interpolated motion. Specifically, the coordinated motion profile is limited by the slowest axis. Two and six degree of freedom (DOF) examples are presented. In experimental tests on a FANUC S-800 arm, the optimal placement of the robot can improve cycle time of a robotic operation by as much as 25%. In high volume processes where the robot motion is currently the limiting ... continued below

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7 p.

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Feddema, J.T. October 1, 1995.

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This article is part of the collection entitled: Office of Scientific & Technical Information Technical Reports and was provided by UNT Libraries Government Documents Department to Digital Library, a digital repository hosted by the UNT Libraries. It has been viewed 19 times . More information about this article can be viewed below.

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  • Sandia National Laboratories
    Publisher Info: Sandia National Labs., Albuquerque, NM (United States)
    Place of Publication: Albuquerque, New Mexico

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Description

This paper describes an algorithm for determining the optimal placement of a robotic manipulator within a workcell for minimum time coordinated motion. The algorithm uses a simple principle of coordinated motion to estimate the time of a joint interpolated motion. Specifically, the coordinated motion profile is limited by the slowest axis. Two and six degree of freedom (DOF) examples are presented. In experimental tests on a FANUC S-800 arm, the optimal placement of the robot can improve cycle time of a robotic operation by as much as 25%. In high volume processes where the robot motion is currently the limiting factor, this increased throughput can result in substantial cost savings.

Physical Description

7 p.

Notes

OSTI as DE96000716

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  • IEEE international conference on robotics and automation, Minneapolis, MN (United States), 22-28 Apr 1996

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  • Other: DE96000716
  • Report No.: SAND--95-2197C
  • Report No.: CONF-960448--1
  • Grant Number: AC04-94AL85000
  • Office of Scientific & Technical Information Report Number: 202431
  • Archival Resource Key: ark:/67531/metadc669235

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Office of Scientific & Technical Information Technical Reports

Reports, articles and other documents harvested from the Office of Scientific and Technical Information.

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  • October 1, 1995

Added to The UNT Digital Library

  • June 29, 2015, 9:42 p.m.

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  • April 14, 2016, 4:14 p.m.

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Feddema, J.T. Kinematically optimal robot placement for minimum time coordinated motion, article, October 1, 1995; Albuquerque, New Mexico. (digital.library.unt.edu/ark:/67531/metadc669235/: accessed October 21, 2017), University of North Texas Libraries, Digital Library, digital.library.unt.edu; crediting UNT Libraries Government Documents Department.