Efficient Method for Generating Pick-and-Place Trajectory over Obstacles

J.J. Potter, K.L. Sorensen, and W.E. Singhose (USA)


Motion Planning, Manufacturing Automation


This paper presents a method to compute a two dimensional pick-and-place trajectory over an arbitrary number of obstacles. The method is computationally sim ple, making it well-suited for implementation on machines that must generate solutions in real time. The method finds a minimum trajectory height that yields a collision-free pla nar trajectory with minimum duration. The method em ploys a user-specified program to convert desired travel dis tances into velocity profiles. Two example programs are given. Velocity profile schemes can be designed to address trajectory objectives, such as in-plane time optimality, or vibration reduction. An industrial case study is presented.

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