Time-Optimal Pick-and-Throw S-Curve Trajectories for Fast Parallel Robots
G. Hassan, Marc Gouttefarde, Ahmed Chemori, Pierre-Elie Hervé, Maher El Rafei, Clovis Francis, Damien Sallé
Abstract
In suitable robotic applications, throwing an object instead of placing it has the potential of improving the cycle time. In this context, a challenge is to generate time-optimal pick-and-throw (P&T) trajectories in order to further increase productivity. This article introduces a methodology to determine a minimum-time throwing motion. This methodology consists essentially in determining an optimal release configuration (i.e., position and velocity) allowing an object to be thrown toward a desired target, while minimizing the travel time of the throwing motion of the robot. To validate the potential of the proposed P&T approach, a comparison with the standard pick-and-place (P&P) process and an existing P&T method is made using the Delta-like parallel 3-translation kinematically redundant robot under different operating conditions. The obtained experimental results demonstrate the superiority and efficiency of the proposed P&T approach over the usual P&P and the existing P&T methods in terms of picking speed and cycle time.