Time-Optimal Point-To-Point Motion Planning and Assembly Mode Change of Cuspidal Manipulators: Application to 3R and 6R Robots

Tobias Marauli; Durgesh Haribhau Salunkhe; Hubert Gattringer; Andreas Müller; Damien Chablat; Philippe Wenger

doi:10.1109/IROS55552.2023.10341420

Time-Optimal Point-To-Point Motion Planning and Assembly Mode Change of Cuspidal Manipulators: Application to 3R and 6R Robots

Tobias Marauli
, Durgesh Haribhau Salunkhe
, Hubert Gattringer
, Andreas Müller
, Damien Chablat
, Philippe Wenger

Institute of Robotics

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

Abstract

The kinematics of cuspidal 3R regional robots was studied extensively in the past. Moreover, certain industrial 6R robots were found to be cuspidal (e.g. Fanuc CRX series, Kinova GEN2), which makes cuspidal robots finally interesting for practical applications. This necessitates optimal trajectory planning, respecting the dynamics and technical limits of the particular robot. In this paper, a method for singularity-free time-optimal point-to-point trajectory (PtP) trajectory planning is proposed. As a special case, this method is applicable to timeoptimal singularity-free assembly mode changing. Results are shown for 3R robots and a 6R Fanuc CRX10iA/L.

Original language	English
Title of host publication	2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Pages	10014-10019
Number of pages	6
ISBN (Electronic)	9781665491907
DOIs	https://doi.org/10.1109/IROS55552.2023.10341420
Publication status	Published - 2023

Publication series

Name	IEEE International Conference on Intelligent Robots and Systems
ISSN (Print)	2153-0858
ISSN (Electronic)	2153-0866

Fields of science

203015 Mechatronics
203022 Technical mechanics
202 Electrical Engineering, Electronics, Information Engineering
202035 Robotics
203013 Mechanical engineering

JKU Focus areas

Digital Transformation

UN SDGs

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

Access to Document

10.1109/IROS55552.2023.10341420

Cite this

Marauli, T., Salunkhe, D. H., Gattringer, H., Müller, A., Chablat, D., & Wenger, P. (2023). Time-Optimal Point-To-Point Motion Planning and Assembly Mode Change of Cuspidal Manipulators: Application to 3R and 6R Robots. In 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 10014-10019). (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS55552.2023.10341420

Marauli, Tobias ; Salunkhe, Durgesh Haribhau ; Gattringer, Hubert et al. / Time-Optimal Point-To-Point Motion Planning and Assembly Mode Change of Cuspidal Manipulators: Application to 3R and 6R Robots. 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 2023. pp. 10014-10019 (IEEE International Conference on Intelligent Robots and Systems).

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title = "Time-Optimal Point-To-Point Motion Planning and Assembly Mode Change of Cuspidal Manipulators: Application to 3R and 6R Robots",

abstract = "The kinematics of cuspidal 3R regional robots was studied extensively in the past. Moreover, certain industrial 6R robots were found to be cuspidal (e.g. Fanuc CRX series, Kinova GEN2), which makes cuspidal robots finally interesting for practical applications. This necessitates optimal trajectory planning, respecting the dynamics and technical limits of the particular robot. In this paper, a method for singularity-free time-optimal point-to-point trajectory (PtP) trajectory planning is proposed. As a special case, this method is applicable to timeoptimal singularity-free assembly mode changing. Results are shown for 3R robots and a 6R Fanuc CRX10iA/L.",

author = "Tobias Marauli and Salunkhe, \{Durgesh Haribhau\} and Hubert Gattringer and Andreas M{\"u}ller and Damien Chablat and Philippe Wenger",

year = "2023",

doi = "10.1109/IROS55552.2023.10341420",

language = "English",

series = "IEEE International Conference on Intelligent Robots and Systems",

pages = "10014--10019",

booktitle = "2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)",

}

Marauli, T, Salunkhe, DH, Gattringer, H , Müller, A, Chablat, D & Wenger, P 2023, Time-Optimal Point-To-Point Motion Planning and Assembly Mode Change of Cuspidal Manipulators: Application to 3R and 6R Robots. in 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE International Conference on Intelligent Robots and Systems, pp. 10014-10019. https://doi.org/10.1109/IROS55552.2023.10341420

Time-Optimal Point-To-Point Motion Planning and Assembly Mode Change of Cuspidal Manipulators: Application to 3R and 6R Robots. / Marauli, Tobias; Salunkhe, Durgesh Haribhau; Gattringer, Hubert et al.
2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 2023. p. 10014-10019 (IEEE International Conference on Intelligent Robots and Systems).

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

TY - GEN

T1 - Time-Optimal Point-To-Point Motion Planning and Assembly Mode Change of Cuspidal Manipulators: Application to 3R and 6R Robots

AU - Marauli, Tobias

AU - Salunkhe, Durgesh Haribhau

AU - Gattringer, Hubert

AU - Müller, Andreas

AU - Chablat, Damien

AU - Wenger, Philippe

PY - 2023

Y1 - 2023

N2 - The kinematics of cuspidal 3R regional robots was studied extensively in the past. Moreover, certain industrial 6R robots were found to be cuspidal (e.g. Fanuc CRX series, Kinova GEN2), which makes cuspidal robots finally interesting for practical applications. This necessitates optimal trajectory planning, respecting the dynamics and technical limits of the particular robot. In this paper, a method for singularity-free time-optimal point-to-point trajectory (PtP) trajectory planning is proposed. As a special case, this method is applicable to timeoptimal singularity-free assembly mode changing. Results are shown for 3R robots and a 6R Fanuc CRX10iA/L.

AB - The kinematics of cuspidal 3R regional robots was studied extensively in the past. Moreover, certain industrial 6R robots were found to be cuspidal (e.g. Fanuc CRX series, Kinova GEN2), which makes cuspidal robots finally interesting for practical applications. This necessitates optimal trajectory planning, respecting the dynamics and technical limits of the particular robot. In this paper, a method for singularity-free time-optimal point-to-point trajectory (PtP) trajectory planning is proposed. As a special case, this method is applicable to timeoptimal singularity-free assembly mode changing. Results are shown for 3R robots and a 6R Fanuc CRX10iA/L.

UR - https://www.scopus.com/pages/publications/85182523181

U2 - 10.1109/IROS55552.2023.10341420

DO - 10.1109/IROS55552.2023.10341420

M3 - Conference proceedings

T3 - IEEE International Conference on Intelligent Robots and Systems

SP - 10014

EP - 10019

BT - 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

ER -

Marauli T, Salunkhe DH, Gattringer H , Müller A, Chablat D, Wenger P. Time-Optimal Point-To-Point Motion Planning and Assembly Mode Change of Cuspidal Manipulators: Application to 3R and 6R Robots. In 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 2023. p. 10014-10019. (IEEE International Conference on Intelligent Robots and Systems). doi: 10.1109/IROS55552.2023.10341420

Time-Optimal Point-To-Point Motion Planning and Assembly Mode Change of Cuspidal Manipulators: Application to 3R and 6R Robots

Abstract

Publication series

Fields of science

JKU Focus areas

UN SDGs

Access to Document

Other files and links

Efficient Certified Algorithms for Robot Motion Planning (ECARP)

Cite this

Time-Optimal Point-To-Point Motion Planning and Assembly Mode Change of Cuspidal Manipulators: Application to 3R and 6R Robots

Abstract

Publication series

Fields of science

JKU Focus areas

UN SDGs

Access to Document

Other files and links

Projects

Efficient Certified Algorithms for Robot Motion Planning (ECARP)

Cite this