Enhanced trajectory planning for machining with industrial six-axis robots

Adel Olabi (1) , Richard Béarée (2) , Eric Nyiri (2) , Olivier Gibaru (2, 3)

1 INSM
2 LSIS - Laboratoire des Sciences de l'Information et des Systèmes
3 NON-A - Non-Asymptotic estimation for online systems

This paper presents a practical approach to adapt the trajectory planning stage for industrial robots to realize continuous machining operations. Firstly, L1 interpolation is introduced to generate efficiently the tool-paths in the form of shape-preserving quintic splines. Then, the tool-tip feedrate planning in Cartesian space is done using a smooth jerk limited pattern and taking into account the joints kinematics constraints. Experimental validations conducted on a 6-axis industrial robot demonstrate the effectiveness of the proposed methodology of trajectory planning in the context of machining.

Mots clés: industrial robots; interpolation; machining; splines

Domaines: Automatique / Robotique

Adel Olabi, Richard Béarée, Eric Nyiri, Olivier Gibaru. Enhanced trajectory planning for machining with industrial six-axis robots. IEEE International Conference on Industrial Technology, Mar 2010, Via del Mar, Chile. pp.500-506, ⟨10.1109/ICIT.2010.5472749⟩. ⟨hal-00777390⟩