Nowadays, most robot programs are developed manually. Thereby, the complex part is not the programming itself but the planning of the required robot movements. Designing time and energy efficient trajectories, e.g. for the coverage path planning problems arising with surface painting, is very time consuming since they must be adjusted in several iterations using a simulation environment. Due to this high manual part the resulting trajectories depending a lot on the experiences of the system integrator.
An alternative is given by optimization algorithms for the automatic calculation of optimal movement pattern. We will present a first implementation of the tool box OptiRob and exemplary, experimental results from these methods. They show a reduction of the cycle time by 25%, a reduction of the energy consumption about 35% and a decrease of the jerk, responsible for attrition of the joint motors, by 50% in contrast to unoptimized trajectories - thereby ensuring a constant observance of the freedom of movement as well as required safety constraints. All applied methods are fully vendor independent. We present a demonstrator with a Kuka LWR iiwa 7. Moreover, we present a possibility for ensuring and proving that the build program covers all given system requirements as well as all important safety aspects by using our tool VECS (Verification Environment for Critical Systems).
With this optimization possibilities, OptiRob supports the system integrator in developing optimal robot trajectories and programs as well as the customer who must adjust the robot for different tasks with its own employees.