A method of optimising angular coordinates of individual joints of a six-axis robot

Abstract

The method of optimising angular coordinates of individual joints of a six-axis robot to reach the lowest electric power consumption of the robot during the continuous motion of the end effector (9) along the defined trajectory after performing the given manufacturing operation on a component (14), where the end effector (9) is provided by the controlled rotation around the axis (8) of the end effector (9) whereas for each selected angle (7) of rotation of the end effector (9), the required set of angular coordinates of individual robot joints to reach the mutual position of the end effector (9) and the component (14) is established in each discrete point of the continuous trajectory of motion of the working point of the end effector (9) and also the kinetic energy of robot mechanism is established in each discrete point of the continuous trajectory of the motion. After that the sum of kinetic energy along the trajectory is established and the most proper angle (7) of rotation of the end effector (9) is selected based on the minimum established sum of kinetic energy.