Abstract
The work presented in this paper reports a research done in order to optimize the relation speed—trajectory length for a complex robotic assembly task. The assembly task consists in fixing an engine part with 8 screws, the screws being already inserted and pre-fixed but not tightened; in some cases the screws must be screwed for a length of 1 cm, and then tightened at 25 Nm. The operation duration (cycle time) should be of maximum 45 s measured from the time the pallet enters in the working area until the pallet exits the working area. Due to the conveyor operation which takes 12 s to place the pallet in the working position and to remove the pallet from the working area, only 33 s remain for the robot operation including the operation time of the screwdriver placed on the robot. The solution is based on developing an algorithm that uses the dynamics equations of the robot to compute the time needed to accomplish the task, based on the load of the robot and the stop points on the trajectory.
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Anton, F., Anton, S., Raileanu, S., Borangiu, T. (2016). Optimizing Trajectory Points for High Speed Robot Assembly Operations. In: Borangiu, T. (eds) Advances in Robot Design and Intelligent Control. Advances in Intelligent Systems and Computing, vol 371. Springer, Cham. https://doi.org/10.1007/978-3-319-21290-6_13
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DOI: https://doi.org/10.1007/978-3-319-21290-6_13
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