Method for minimum-time control of a robot on an assigned path in collaborative applications
Data di pubblicazione
Data di priorità
Italian Patent Application process
Politecnico di Milano
Department of Electronics, Information and Bioengineering
Andrea Maria Zanchettin
The invention consists in a method to allow a robot manipulator to perform a motion along a specified operational path in the quickest way. The method accounts for physical limits in the actuator capacities (power, torque, or speed limits) while certifying the capability of the robot to stop on the assigned path without colliding with a human operator that is arbitrarily moving in the workspace.