Anzeige
Erschienen in:
2014 | OriginalPaper | Buchkapitel
Collision-Free Path Planning of Welding Robots
verfasst von : Chantal Landry, Matthias Gerdts, René Henrion, Dietmar Hömberg, Wolfgang Welz
Erschienen in: Progress in Industrial Mathematics at ECMI 2012
Aktivieren Sie unsere intelligente Suche, um passende Fachinhalte oder Patente zu finden.
Wählen Sie Textabschnitte aus um mit Künstlicher Intelligenz passenden Patente zu finden. powered by
Markieren Sie Textabschnitte, um KI-gestützt weitere passende Inhalte zu finden. powered by
Abstract
In a competitive industry, production lines must be efficient. In practice, this means an optimal task assignment between the robots and an optimal motion of the robots between their tasks. To be optimal, this motion must be collision-free and as fast as possible. It is obtained by solving an optimal control problem where the objective function is the time to reach the final position and the ordinary differential equations are the dynamics of the robot. The collision avoidance criterion is a consequence of Farkas’s lemma. The criterion is included in the optimal control problem as state constraints and allows us to initialize most of the control variables efficiently. The resulting model is solved by a sequential quadratic programming method where an active set strategy based on backface culling is added.