Cykeltidsoptimering av sjuaxligt robotsystem
Independent thesis Basic level (professional degree)Student thesisAlternative title
Cycle time optimization in a 7 DOF robot system (English)
This master thesis studies how much the cycle time, i.e. the time it takes for an industrial robot to perform a given task, can be reduced if an extra degree of freedom (DOF) is added to the robot system. The extra DOF consists of a linear track, which is supposed to be used in an optimal way. The problem has been studied using simulations in the robot simulation tool RobotStudio.
To be able to run an optimization in Matlab, with the RobotStudio simulation cycle time as the object function, communication between Matlab and RobotStudio has been set up with an interface written in Visual Basic. An algorithm has been developed to solve the problem. Two different optimization methods have been examined and compared.
The resulting algorithm has been applied to test cases. The results show that the cycle time in several cases can be reduced by 20-30 percent, if the movements along the track are optimized with the suggested method.
Place, publisher, year, edition, pages
Institutionen för systemteknik , 2005.
Reglerteknik, robot, optimization, redundant, degrees of freedom, cycle time, work station
IdentifiersURN: urn:nbn:se:liu:diva-2756ISRN: LITH-ISY-EX--05/3635--SEOAI: oai:DiVA.org:liu-2756DiVA: diva2:20097