User-Defined Transition between Path Segments in Terms of Tolerances in Speed and Position Deviation

Konferenz: ISR 2016 - 47st International Symposium on Robotics
21.06.2016 - 22.06.2016 in München, Germany

Tagungsband: ISR 2016

Seiten: 7Sprache: EnglischTyp: PDF

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Weber, Wolfgang; Koenig, Alexander; Nodem, Dany Xavier (Hochschule Darmstadt, University of Applied Science, Birkenweg 8, 64295 Darmstadt)

Many applications in industrial robotics such as applying adhesives or cutting require movements in the process relevant speed. The path is programmed as sequence of Point-to-point motion commands, linear and circular motion commands. But in general the tool has to stop in the transition between path segments. If the programmer use spline or fly by commands, it is possible to move through a transition point or close to that without a stop. But by specifying the parameters that affect the spline or fly by method the user can not directly influence the deviation from the desired speed and the deviation from a via point. In this paper a user-friendly solution for the transition between line segments is presented. The tool CorDe (Corner Drive with Defined Speed) visualizes the characteristic of the distance to the corner depending on the speed deviation. The user can choose an adequate pair of distance and speed deviation. CorDe can be used to calculate the time series of the poses. It is also possible to set up a code generator which generates commands in the available robot programming language to approximate the CorDe method. CorDe has been tested in simulations and experiments. The presented method can be considered as a first step to a user-friendly general spline interpolation.