A Time Optimal Solution for the Waiter Motion Problem with an Industrial Robot

Matthias Oberherber; Hubert Gattringer; Klemens Springer

A Time Optimal Solution for the Waiter Motion Problem with an Industrial Robot

Matthias Oberherber, Hubert Gattringer, Klemens Springer

Institute of Robotics

Research output: Chapter in Book/Report/Conference proceeding › Conference proceedings › peer-review

Abstract

This paper presents a time optimal solution for the "Waiter-Motion-Problem". The goal is to move a cup, that is loosely placed at the end-effector of an industrial robot, as fast as possible on a specified path. The path is defined with splines represented by Bernstein polynomials. By introducing a path parameter, the optimization problem is transformed into the phase plane and solved with a Bellman optimization strategy. Physical limitations like motor velocities, motor torques and friction forces are considered. The cycle time is reduced even more by adapting the orientation of the tray. Simulation as well as experimental results are presented.

Original language	English
Title of host publication	Proceedings of the Austrian Robotics Workshop 2013
Editors	Wilfried Kubinger, Alexander Hofmann, Friedrich Praus
Pages	55-60
Number of pages	6
Publication status	Published - May 2013

Fields of science

203022 Technical mechanics
203013 Mechanical engineering
202035 Robotics
203015 Mechatronics

JKU Focus areas

Mechatronics and Information Processing

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

Cite this

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title = "A Time Optimal Solution for the Waiter Motion Problem with an Industrial Robot",

abstract = "This paper presents a time optimal solution for the {"}Waiter-Motion-Problem{"}. The goal is to move a cup, that is loosely placed at the end-effector of an industrial robot, as fast as possible on a specified path. The path is defined with splines represented by Bernstein polynomials. By introducing a path parameter, the optimization problem is transformed into the phase plane and solved with a Bellman optimization strategy. Physical limitations like motor velocities, motor torques and friction forces are considered. The cycle time is reduced even more by adapting the orientation of the tray. Simulation as well as experimental results are presented.",

author = "Matthias Oberherber and Hubert Gattringer and Klemens Springer",

year = "2013",

month = may,

language = "English",

isbn = "978-3-200-03095-4",

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editor = "{Wilfried Kubinger, Alexander Hofmann, Friedrich Praus}",

booktitle = "Proceedings of the Austrian Robotics Workshop 2013",

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A Time Optimal Solution for the Waiter Motion Problem with an Industrial Robot. / Oberherber, Matthias; Gattringer, Hubert; Springer, Klemens.
Proceedings of the Austrian Robotics Workshop 2013. ed. / Wilfried Kubinger, Alexander Hofmann, Friedrich Praus. 2013. p. 55-60.

Research output: Chapter in Book/Report/Conference proceeding › Conference proceedings › peer-review

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AU - Gattringer, Hubert

AU - Springer, Klemens

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N2 - This paper presents a time optimal solution for the "Waiter-Motion-Problem". The goal is to move a cup, that is loosely placed at the end-effector of an industrial robot, as fast as possible on a specified path. The path is defined with splines represented by Bernstein polynomials. By introducing a path parameter, the optimization problem is transformed into the phase plane and solved with a Bellman optimization strategy. Physical limitations like motor velocities, motor torques and friction forces are considered. The cycle time is reduced even more by adapting the orientation of the tray. Simulation as well as experimental results are presented.

AB - This paper presents a time optimal solution for the "Waiter-Motion-Problem". The goal is to move a cup, that is loosely placed at the end-effector of an industrial robot, as fast as possible on a specified path. The path is defined with splines represented by Bernstein polynomials. By introducing a path parameter, the optimization problem is transformed into the phase plane and solved with a Bellman optimization strategy. Physical limitations like motor velocities, motor torques and friction forces are considered. The cycle time is reduced even more by adapting the orientation of the tray. Simulation as well as experimental results are presented.

M3 - Conference proceedings

SN - 978-3-200-03095-4

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EP - 60

BT - Proceedings of the Austrian Robotics Workshop 2013

A2 - Wilfried Kubinger, Alexander Hofmann, Friedrich Praus, null

ER -