Real‐Time Trajectory Planning of the Industrial Robot IRB6400

Abstract

Abstract Path planning of industrial robots requires the calculation of trajectories with respect to different optimization criteria, e.g. time optimal, energy optimal or wear and tear optimal solutions. These optimal control problems can be solved numerically, e.g., by direct solvers. In practice, inaccuracies or perturbations in the underlying model can cause the robot to fail in following the calculated path. When deviations of the precalculated trajectory or system parameters are detected an update of the robot trajectory is required in real‐time. Therefore, a method based on the parametric sensitivity analysis of the optimal control problem is proposed to calculate admissible approximations for the solution of the perturbed robot trajectory problem in real‐time. A model of ABB's common robot IRB 6400 is used to reveal the capabilities of the proposed method.