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Enhanced trajectory planning for machining with industrial six-axis robots

Adel Olabi 1 Richard Béarée 2 Eric Nyiri 2 Olivier Gibaru 2, 3
1 INSM
LSIS - Laboratoire des Sciences de l'Information et des Systèmes
3 NON-A - Non-Asymptotic estimation for online systems
Inria Lille - Nord Europe, CRIStAL - Centre de Recherche en Informatique, Signal et Automatique de Lille (CRIStAL) - UMR 9189
Abstract : This paper presents a practical approach to adapt the trajectory planning stage for industrial robots to realize continuous machining operations. Firstly, L1 interpolation is introduced to generate efficiently the tool-paths in the form of shape-preserving quintic splines. Then, the tool-tip feedrate planning in Cartesian space is done using a smooth jerk limited pattern and taking into account the joints kinematics constraints. Experimental validations conducted on a 6-axis industrial robot demonstrate the effectiveness of the proposed methodology of trajectory planning in the context of machining.
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Conference papers
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https://hal.inria.fr/hal-00777390
Contributor : Olivier Gibaru <>
Submitted on : Thursday, January 17, 2013 - 2:34:05 PM
Last modification on : Saturday, October 3, 2020 - 3:12:48 AM

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Adel Olabi, Richard Béarée, Eric Nyiri, Olivier Gibaru. Enhanced trajectory planning for machining with industrial six-axis robots. IEEE International Conference on Industrial Technology, Mar 2010, Via del Mar, Chile. pp.500-506, ⟨10.1109/ICIT.2010.5472749⟩. ⟨hal-00777390⟩

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