Robot Path and Trajectory Planning Considering a Spatially Fixed TCP

TL;DR

This paper introduces a method for planning robot trajectories with a fixed TCP in workspace coordinates, emphasizing smooth paths via B-splines and considering processing paths and velocities, validated on an industrial robot system.

Contribution

It presents a novel approach for trajectory planning that accounts for a fixed TCP and processing paths, using B-splines for smoothness, applicable in practical industrial scenarios.

Findings

Successfully validated on a real industrial robot system.

Generated smooth trajectories considering fixed TCP and processing paths.

Demonstrated practical applicability in industrial robot motion planning.

Abstract

This paper presents a method for planning a trajectory in workspace coordinates using a spatially fixed tool center point (TCP), while taking into account the processing path on a part. This approach is beneficial if it is easier to move the part rather than moving the tool. Whether a mathematical description that defines the shape to be processed or single points from a design program are used, the robot path is finally represented using B-splines. The use of splines enables the path to be continuous with a desired degree, which finally leads to a smooth robot trajectory. While calculating the robot trajectory through prescribed orientation, additionally a given velocity at the TCP has to be considered. The procedure was validated on a real system using an industrial robot moving an arbitrary defined part.