Performance time models for robot point operations

Abstract

Abstract Point operations involve work performed under PTP control. Models to estimate performance time of such operations are proposed in the context of RTM. RTM, Robot Time and Motion, is a high-level robot task description language, which has been formulated to evaluate robot ability to perform a given task, estimate task execution time, and compare alternate robot work methods. In this article, the current capabilities of RTM are reviewed, and a simplified version for point operations is developed and demonstrated with Unimate 4000B in spot welding.