Intuitive Optimization of Kinesthetic Programmed Trajectories for Fiber Spraying

Titelangaben

Schmidt, Edgar ; Henrich, Dominik:
Intuitive Optimization of Kinesthetic Programmed Trajectories for Fiber Spraying.
In: Müller, Andreas ; Brandstötter, Mathias (Hrsg.): Advances in Service and Industrial Robotics : RAAD 2022. - Cham : Springer , 2022 . - S. 80-88
ISBN 978-3-031-04870-8
DOI: https://doi.org/10.1007/978-3-031-04870-8_10

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Abstract

The optimization of robot programs before their execution enables to correct inaccurate and erroneous programming. In this work, an extension to kinesthetic programming is presented, with the aim to optimize robot trajectories in their geometrical and temporal course. For this, we define a set of optimization methods, which can be used quickly and without geometrical information about the used workpiece. The optimization of a robot trajectory can be performed via a simple user interface. We evaluate our approach in terms of intuitiveness and required amount of time for the optimization of robot trajectories in the application fiber spraying processes. We show the preferred order of optimization steps for the application fiber spraying processes. The resulting extension enables the elimination of a major disadvantage of kinesthetic programming.