A minimum‐time path‐following algorithm for industrial robots is presented in this paper.
The algorithm generates off‐line a trajectory that, by exploiting knowledge of the dynamic model, takes into account the actuators' torque limits while preserving the geometric path.
The algorithm has been designed, implemented and extensively tested on a Comau SMART H4 robot, a closed‐chain six‐degree‐of‐freedom industrial manipulator.
The algorithm is currently part of the new generation of industrial controllers of the Comau robots, the C4G controller. It is a feature added as with the name SmartMove4.
The paper presents a new minimum‐time path‐following algorithm for industrial robots that, by exploiting knowledge of the dynamic model, takes into account the actuators' torque limits while preserving the geometric path.
