Optimum motion planning for CS-1 industrial robot with two manipulators

摘要

This paper mainly deals with the optimum motion planning of CS-1 industrial robot. The robot has two manipulators and is used in a hazardous environment with high temperature and the poisonous powders of carbonized beryllium to replace the workers. In this paper, first the kinematic models of the two manipulators are developed according to the specified technological requirements. After those, the optimum motion planning method based on the minimum operation time is introduced in detail, and the computer simulation results is given. Finally, the summary and conclusions are presented. The research result of this paper indicates that the optimization method can play an important role is raising the working efficiency of robots.