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Intuitive Optimization of Kinesthetic Programmed Trajectories for Fiber Spraying

Title data

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

Project information

Project title:
Project's official title
Project's id
FlexFiber
No information

Abstract in another language

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.

Further data

Item Type: Article in a book
Refereed: Yes
Keywords: Industrial robots; Flexible manufacturing; Small batch size; Kinesthetic programming; Fiber spraying; intuitive roboter programmierung
Institutions of the University: Faculties > Faculty of Mathematics, Physics und Computer Science > Department of Computer Science > Chair Applied Computer Science III > Chair Applied Computer Science III - Univ.-Prof. Dr. Dominik Henrich
Result of work at the UBT: Yes
DDC Subjects: 000 Computer Science, information, general works > 004 Computer science
Date Deposited: 14 Feb 2025 09:02
Last Modified: 14 Feb 2025 09:02
URI: https://eref.uni-bayreuth.de/id/eprint/92329