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Open AccessFeature PaperArticle

Optimal Robot Motion Planning of Redundant Robots in Machining and Additive Manufacturing Applications

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Institute of Intelligent Industrial Technologies and Systems for Advanced Manufacturing (STIIMA), National Research Council (CNR), via Corti 12, 20133 Milan, Italy
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Instrumentation and Robotics Department, Danieli Automation, via Stringher 4, Buttrio 33042, Italy
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Author to whom correspondence should be addressed.
Electronics 2019, 8(12), 1437; https://doi.org/10.3390/electronics8121437
Received: 30 August 2019 / Revised: 16 November 2019 / Accepted: 19 November 2019 / Published: 1 December 2019
(This article belongs to the Special Issue Motion Planning and Control for Robotics)
The paper deals with the generation of optimal trajectories for industrial robots in machining and additive manufacturing applications. The proposed method uses an Ant Colony algorithm to solve a kinodynamic motion planning problem. It exploits the kinematic redundancy that is often present in these applications to optimize the execution of trajectory. At the same time, the robot kinematics and dynamics constraints are respected and robot collisions are avoided. To reduce the computational burden, the task workspace is discretized enabling the use of efficient network solver based on Ant Colony theory. The proposed method is validated in robotic milling and additive manufacturing real-world scenarios.
Keywords: kino-dynamics motion planning; ant-colony optimization; advanced industrial applications kino-dynamics motion planning; ant-colony optimization; advanced industrial applications
MDPI and ACS Style

Beschi, M.; Mutti, S.; Nicola, G.; Faroni, M.; Magnoni, P.; Villagrossi, E.; Pedrocchi, N. Optimal Robot Motion Planning of Redundant Robots in Machining and Additive Manufacturing Applications. Electronics 2019, 8, 1437.

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