Implementation of Trajectory Planning for the Miniaturised Industrial Robots of the Morobot Platform

Le résumé fourni par la source

The International Federation of Robotics (IFR) has reported a 200% increase of installed industrial robots over the last decade, with further growth projected.To prevent a gap between supply and demand for a qualified workforce, Robotics in Education supports students with understanding robotics and sparking interest in technology.For a rapidly growing industry with new technologies and solutions emerging almost daily, the skills of and practice in critical comparison of methods and creative problem-solving are essential.The morobot platform of the University of Applied Sciences Technikum-Wien manufactures 3D-printed miniaturized industrial robots that enable cost-effective and easy access to knowledge in the robotics domain.However, the current implementation of the robot control leads to jerky movement and provides no possibility of creating a geometric path.In this paper, the platform is enhanced with trajectory planning to achieve smooth robot motions and implement continuous point-to-point and linear movements.Suitable velocity profiles are computed to achieve a desired motion.Given the high minimum velocity of the morobot motors, third-and fifth-order polynomials are compared regarding the smoothness of the resulting motion and the absolute positioning accuracy.Both methods achieved the desired smoothness.However, third-order polynomials provide a higher positioning accuracy, and have therefore been implemented for continuous point-to-point movement.For the linear movement, intermediate points are calculated to approximate a straight line between the start and goal robot position.Due to the high minimum velocity of the motors and the close proximity of the intermediate points, trajectory planning cannot resolve the jerky motion.Motors with lower minimum velocity should be identified for a future project phase.

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