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Fecha
2022-10-05
Derechos de acceso
info:eu-repo/semantics/openAccess
Título de la revista
ISSN de la revista
Título del volumen
Editorial
MDPI
Citas
Resumen
Currently, the high demand for new products in the automotive sector requires large investments in factories. The automotive industry is characterized by high automatization, largely achieved by manipulator robots capable of multitasking. This work presents a method for the optimization of trajectories in robots with six degrees of freedom and a spherical wrist. The optimization of trajectories is based on the maximization of manipulability and the minimization of electrical energy. For this purpose, it is necessary to take into account the kinematics and dynamics of the manipulator in order to integrate an algorithm for calculation. The algorithm is based on the Kalman method. This algorithm was implemented in a simulation of the trajectories of a serial industrial robot, in which the robot has a sealer gun located on its sixth axis and the quality of the sealer application depends directly on the orientation of the gun. During the optimization of the trajectory, the application of the sealer must be guaranteed. This method was also applied to three different trajectories in the automotive sector. The obtained results for manipulability and electrical energy consumption prove the efficiency of the algorithm. Therefore, this method searches for the optimal solution within the limits of the manipulator and maintains the orientation of the final effector. This can be used for a known trajectory.
Descripción
The registered version of this article, first published in Sensors, is available online at the publisher's website: MDPI, https://doi.org/10.3390/s22197538
La versión registrada de este artículo, publicado por primera vez en Sensors, está disponible en línea en el sitio web del editor: MDPI, https://doi.org/10.3390/s22197538
La versión registrada de este artículo, publicado por primera vez en Sensors, está disponible en línea en el sitio web del editor: MDPI, https://doi.org/10.3390/s22197538
Categorías UNESCO
Palabras clave
manipulator robot, Kalman method, trajectory optimization, manipulability, electrical energy, simulation
Citación
Garriz, C., & Domingo, R. (2022). Trajectory Optimization in Terms of Energy and Performance of an Industrial Robot in the Manufacturing Industry. Sensors, 22(19), 7538. https://doi.org/10.3390/s22197538
Centro
E.T.S. de Ingenieros Industriales
Departamento
Ingeniería de Construcción y Fabricación