Optimal Robot Motion Planning of Redundant Robots in Machining and Additive Manufacturing Applications

The paper deals with the generation of optimal trajectories for industrial robots in machining and additive manufacturing applications. The proposed method uses an Ant Colony algorithm to solve a kinodynamic motion planning problem. It exploits the kinematic redundancy that is often present in these...

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Veröffentlicht in:	Electronics (Basel) 2019-12, Vol.8 (12), p.1437
Hauptverfasser:	Beschi, Manuel, Mutti, Stefano, Nicola, Giorgio, Faroni, Marco, Magnoni, Paolo, Villagrossi, Enrico, Pedrocchi, Nicola
Format:	Artikel
Sprache:	eng
Schlagworte:	Additive manufacturing Algorithms Ant colony optimization Industrial robots Kinematics Lasers Milling (machining) Motion planning Optimization Pheromones Planning Redundancy Robot dynamics Robots Trajectory optimization Velocity
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