Automatic programming and generation of collision-free paths for the Mitsubishi Movemaster RV-M1 robot

摘要

Purpose: of this paper: This paper discuss the possibility to develop and implementing the computer system, which could be able to generate a collision-free path and prepare the data for direct implementing in the robot’s program. Design/methodology/approach: The existing methods of planning of the collision-free paths are mainly limited to the 2D issue and implemented for the mobile robots. The existing methods for planning the trajectory in 3D are often complicated and time-consuming, so most of them are not introduced in reality, being only a theory. In the paper the 2½D method has been presented together with the method of smoothing the generated trajectory. Experiments have been carried out in the virtual environment as well as on the real robot. Findings: The developed PLANER application has been adapted for cooperation with the Mitsubishi Movemaster RV-M1 robot. The current tests, together with the previous one carried out on the Fanuc RJ3iB robot, have shown the versatility of the method and the possibility to adapt it for cooperation with any robotic system. Research limitations/implications: The further stage of research will be concentrated on the consolidation of trajectory generating and simulation phase with the program execution stage in such a way, that the determination of collision-free path could be realized in real time. Practical implications: This approach clearly simplifies the stage of defining the relevant points of the trajectory in order to avoid collisions with the technological objects located in the robot’s manipulator environment. Thereby it significantly reduces the time needed for implementation of the program to the production cycle. Originality/value: The method of generating the collision-free trajectories, which is described in the paper, combines some of the existing tools with the new approach to achieve the optimal performance of the algorithm.