Integrative path planning and motion control for handling large components

Abstract

For handling large components a large workspace and high precision are required. In order to simplify the path planning for automated handling systems, this task can be divided into global, regional and local motions. Accordingly, different types of robots are used to fulfill the kinematic requirements. An integrative path planning and motion control concept has been developed, which simplifies the commissioning of handling systems consisting of different robots. It combines the tasks of path planning and motion control by an integrative approach, as the motion data of a simulation tool is directly used for controlling the real robots. An overlying control module coordinates and distributes the data to the robots. This modular control concept facilitates the flexibility which is needed to build up a reconfigurable robot system for customized handling of large components. © 2011 Springer-Verlag.