Introduction Lecture

Kinematic
Robot Types
Fundamentals of Robotics
Coordinate
(Automatisierungs- und Robotertechnik I)
Transformations

Motion Control
& Path Planning

Handling Systems

Robot Programming

Safety

Sensors

Robot Hardware

Performance and
Accuracy

D: Motion Control & Path Planning

PD Dr.-Ing Jobst Bickendorf Control and cyberphysical systems (RCS) FoR 1

 Interpolation Types

Introduction

Kinematic
Robot Types

Coordinate
Transformations

Motion Control
& Path Planning

Handling Systems

Robot Programming

Safety

Sensors

Robot Hardware

Performance and
Accuracy

On which path will the robot’s TCP move from start to target?

PD Dr.-Ing Jobst Bickendorf Control and cyberphysical systems (RCS) FoR 2

 Interpolation Types

Introduction

Kinematic
Robot Types

Coordinate
Transformations A B
Motion Control
& Path Planning

Handling Systems

Robot Programming

Safety

Sensors

Robot Hardware

Performance and
Accuracy

How can we get intermediate points for the robot movement?

PD Dr.-Ing Jobst Bickendorf Control and cyberphysical systems (RCS) FoR 3

 Interpolation Types CP / PTP

y
Introduction

Kinematic
CP Circular Interpolation
Robot Types
End End
Coordinate
Transformations
A
Motion Control
& Path Planning

Handling Systems
CP Linear
Robot Programming Interpolation
Safety

CP Spline
Sensors Start
Robot Hardware
Start
Performance and Synchronous PTP Asynchronous
Accuracy PTP
x
Green: PTP = Point to point interpolation source: Weber
Blue: CP = Continuous path interpolation
A = auxiliary point

PD Dr.-Ing Jobst Bickendorf Control and cyberphysical systems (RCS) FoR 4

 Velocity Profiles of two Axes

Introduction
v(t)
maximum motion time
Kinematic
Robot Types
Asynchronous PTP  leading axis

• All axes move with max.

Coordinate
Transformations acceleration and speed

Motion Control
& Path Planning
t
Handling Systems te
Robot Programming
Synchronous PTP v(t)
Safety • Adjustment of all axes
to the leading axis
Sensors
• leading axis moves with max.
Robot Hardware acceleration and speed

Performance and Advantages:

Accuracy
• smoother motions
• lower forces (joints, drives) t
• less energy consumption. te
leading axis
source: Weber

PD Dr.-Ing Jobst Bickendorf Control and cyberphysical systems (RCS) FoR 5

 Synchronization Procedure

Introduction
Procedure
Kinematic
Robot Types
• Calculation of joint value changes and motion times for all axes
• Determination of maximum motion time te
Coordinate
 axis with maximum motion time becomes leading axis
Transformations
• te becomes valid (motion time) for all joints
Motion Control
& Path Planning • The speeds of all axes, which are not the leading axis, are adjusted.

Handling Systems

Robot Programming
Synchronous PTP v(t)
Safety • Adjustment of all axes
to the leading axis
Sensors
• leading axis moves with max.
Robot Hardware acceleration and speed

Performance and Advantages:

Accuracy
• smoother motions
• lower forces (joints, drives) t
• less energy consumption. te
leading axis
source: Weber

PD Dr.-Ing Jobst Bickendorf Control and cyberphysical systems (RCS) FoR 6

 Interpolation Cycle Time and Path Accuracy

Desired Path
Introduction

Kinematic
Robot Types
Actual Path Path section with
interpolation points at
Coordinate
Transformations an interpolation cycle of
Motion Control
32 ms
& Path Planning

Handling Systems
Path Deviation
Robot Programming

Safety

Sensors Path section with

interpolation points at
Robot Hardware
an interpolation cycle of
Performance and 16 ms
Accuracy

Path Deviation
source: Kroth/REIS

PD Dr.-Ing Jobst Bickendorf Control and cyberphysical systems (RCS) FoR 7

 Interpolation Cycle Time and Path Accuracy - Wrong or right?

Desired Path

Introduction

Kinematic Actual Path

Robot Types
cycle time 32 ms cycle time 16 ms

Coordinate
Transformations

Motion Control Path Deviation

& Path Planning Path Deviation

Handling Systems
● The shorter the interpolation time, the closer the interpolation points are to the desired
Robot Programming path??
Safety
● The shorter the interpolation time, the more interpolation points can be calculated per
section of the desired path??
Sensors ● Between the interpolation points, the path of the robot effector is linear??
● The more interpolation points can be calculated on a given path section, the closer the
Robot Hardware
actual path is to the desired path??
Performance and ● Between the interpolation points, the path of the robot effector is approximated by arc
Accuracy segments??
● The path of the robot effector is not defined between the interpolation points??
● The more interpolation points are calculated on a given path section, the greater the risk
of passing through a singular robot position??
● The more interpolation points can be calculated on a given path section, the lower the risk
of a collision with an obstacle close to this path??

PD Dr.-Ing Jobst Bickendorf Control and cyberphysical systems (RCS) FoR 8

 Ramp Profile for path interpolation

Introduction
a(t) acceleration v(t) velocity
Kinematic
Robot Types
vm
Coordinate am
Transformations
tb te
Motion Control
& Path Planning
t
ta ta tb te
Handling Systems
-am
Robot Programming

Safety
d(t) Distance vm
= =
d e distance, ta
Sensors am
de
Robot Hardware

de
Performance and
Accuracy t e = + t a , tb = t e − t a
t
vm
ta tb te
source: Weber

PD Dr.-Ing Jobst Bickendorf Control and cyberphysical systems (RCS) FoR 9

 Profiles for the Interpolation: Sinusoidal Profile

Introduction
a(t) acceleration v(t) velocity
Kinematic
Robot Types
a(t) ∼ sin² t vm
Coordinate am
Transformations

Motion Control tb te
& Path Planning t
ta ta tb te
Handling Systems
-am
Robot Programming
Advantages:
Safety
d(t) distance - Less load on robot drives
Sensors
- Avoidance of vibrations
de
Robot Hardware

Performance and
Disadvantages:
Accuracy
- Computation efforts
t - Not as fast as ramp profile.
ta tb te
source: Weber

PD Dr.-Ing Jobst Bickendorf Control and cyberphysical systems (RCS) FoR 10

 PTP properties

Introduction

Kinematic
Robot Types
PTP interpolation
Coordinate
Transformations

Motion Control  Only start- & end points are known

& Path Planning
 Intermediate points / motion path not known
Handling Systems
 Danger of collisions
Robot Programming
 High speed
Safety
 Steady motion of axes
Sensors
 Minimal change of joint angles
Robot Hardware

 No intermediate points  no inverse kinematics needed.

Performance and
Accuracy

PD Dr.-Ing Jobst Bickendorf Control and cyberphysical systems (RCS) FoR 11

 CP properties

Introduction

Kinematic
Robot Types
CP interpolation
Coordinate
Transformations

Motion Control  Definition of complete spatial paths

& Path Planning
 Controller computes a large number of interpolation points
Handling Systems
along the path
Robot Programming
 Complete path is known
Safety
 Collisions can be detected during programming / simulation
Sensors
 Inverse kinematics has to be computed for each interpolation
Robot Hardware point in real-time
Performance and
 high computation effort.
Accuracy

PD Dr.-Ing Jobst Bickendorf Control and cyberphysical systems (RCS) FoR 12

 Interpolation Types

Introduction CP (Continuous Path)

PTP (Point To Point) interpolation
Kinematic
interpolation
Robot Types

Coordinate
Transformations
• Only start- and endpoint are defined • Complete path is defined
• Path between the points is unknown • Intermediate points are
Motion Control
& Path Planning computed and define the
path accuracy
Handling Systems

Robot Programming asynchronous PTP synchronous PTP linear circular

Safety
all axes start moving with speed synchronization all axes are synchronizied
Sensors maximum acceleration with the axis that has during the whole motion
Robot Hardware
and speed without any the longest motion time
synchronisation
Performance and
Accuracy

Examples of use: Examples of use:

Handling, palletizing, spot welding Arc welding, cutting, coating

PD Dr.-Ing Jobst Bickendorf Control and cyberphysical systems (RCS) FoR 13

 Continuous Path Interpolation - Applications

Introduction
Mitsubishi RV-2 robot drawing a bicycle
Kinematic
Robot Types

Coordinate
Transformations

Motion Control
& Path Planning

Handling Systems

Robot Programming

Safety

Sensors

Robot Hardware

Performance and
Accuracy

PD Dr.-Ing Jobst Bickendorf Control and cyberphysical systems (RCS) FoR 14

 Continuous Path Interpolation - Applications

Introduction

Kinematic
Robot Types

Coordinate
Transformations

Motion Control
& Path Planning

Handling Systems

Robot Programming

Safety

Sensors

Robot Hardware

Performance and
Accuracy

PD Dr.-Ing Jobst Bickendorf Control and cyberphysical systems (RCS) FoR 15

 Path Smoothing

Introduction

Kinematic
Robot Types

Coordinate
Transformations

Motion Control
& Path Planning

Handling Systems

Robot Programming

Safety

Sensors

Robot Hardware

Performance and
Accuracy

PD Dr.-Ing Jobst Bickendorf Control and cyberphysical systems (RCS) FoR 16

 Time Saving by Path Smoothing

Introduction

Kinematic
Robot Types

Coordinate
Transformations

Motion Control
& Path Planning

Handling Systems

Robot Programming

Safety

Sensors

Robot Hardware

Performance and
Accuracy
source: Kroth/REIS
28,5 − 22,5
= 21%
28,5
+ Energy and Wear!

PD Dr.-Ing Jobst Bickendorf Control and cyberphysical systems (RCS) FoR 17

 Path Smoothing: Sphere around Path Point

Y Sphere of Z
Introduction
path smoothing
Kinematic P0
Robot Types

Coordinate
Transformations
Robot Path
Motion Control
& Path Planning

Handling Systems P1 P0: Start Point

P1: Intermediate/
Robot Programming
fly-by point
Safety P2: Target point
Sensors

Robot Hardware

Performance and
P2
Accuracy

Advantages: X
 Time saving, because of shorter and smoother motions
and no stopping at intermediate points
 Lower stress (joints, drives).
PD Dr.-Ing Jobst Bickendorf Control and cyberphysical systems (RCS) FoR 18
 Path Smoothing

Introduction

Kinematic
Robot Types

Coordinate
Transformations

Motion Control
& Path Planning

Handling Systems

Robot Programming

Safety

Sensors

Robot Hardware

Performance and
Accuracy

PD Dr.-Ing Jobst Bickendorf Control and cyberphysical systems (RCS) FoR 19

 Path Smoothing

Introduction
Path smoothing with different smoothing parameters
Kinematic
Robot Types

Coordinate
Transformations

Motion Control
B
& Path Planning SPEED

Handling Systems
 
Robot Programming
 t

Safety
A SPEED

Sensors

Robot Hardware
C t

Performance and
Accuracy  More speed, less stress and energy consumption
 should be preferred, if possible

 Better path accuracy, but less effective

PD Dr.-Ing Jobst Bickendorf Control and cyberphysical systems (RCS) FoR 20

 Path Smoothing

Introduction

Kinematic
Robot Types
B
Coordinate Distance needed
Transformations

Motion Control Robots with velocity-independent

& Path Planning
path smoothing always follow the
Handling Systems same path even if the speed
changes
Robot Programming A
Robots with velocity-
Safety dependent path
smoothing
C
Sensors

Robot Hardware

Performance and Danger of collision with obstacles

Accuracy
The distance of path smoothing must be controlled.
Some controllers do path smoothing dependent on the speed!

source: Stäubli

PD Dr.-Ing Jobst Bickendorf Control and cyberphysical systems (RCS) FoR 21

 Path Smoothing: Possible Approaches

Introduction

Velocity controlled path smoothing:

Kinematic
Robot Types
Starts when velocity falls below a defined value
Coordinate Disadvantage: a change of speed also changes the path accuracy
Transformations

Motion Control
& Path Planning Position controlled path smoothing:

Handling Systems Starts on entry of TCP into the smoothing sphere

Outside the sphere path is kept exactly
Robot Programming
Advantage: easy to control for robot users + safe
Safety

Sensors Other approaches:

Robot Hardware Percentage rate of difference between axis angles (for PTP)
Percentage rate of difference between positions and / or orientations (for CP)
Performance and
Accuracy External signals

PD Dr.-Ing Jobst Bickendorf Control and cyberphysical systems (RCS) FoR 22

 Example for the Combination of Interpolation Types and Path Smoothing

Introduction Path smoothing between PTP, linear and circular movements

Kinematic
Robot Types
8
Coordinate
Transformations 1
CP-CIRCULAR
Motion Control
& Path Planning

Handling Systems

Robot Programming
7

Safety 2

Sensors
Fly-by point
3 4 5 6
Robot Hardware

Performance and
Accuracy

Here the fly-by point is used for a change of the interpolation type
source: Kroth/REIS

PD Dr.-Ing Jobst Bickendorf Control and cyberphysical systems (RCS) FoR 23

 Linear Path with Orientation Interpolation

Introduction

Kinematic
Robot Types

Coordinate
Transformations

Motion Control
& Path Planning

Handling Systems

Robot Programming

Safety
source: Kroth/REIS
Sensors

Robot Hardware
 Effector moves straight from start to end position without changing orientation
Performance and of the Tool, if the orientation of start and end point are the same
Accuracy

 With different orientations at start and end point

the tool orientation is interpolated constantly along the path.

PD Dr.-Ing Jobst Bickendorf Control and cyberphysical systems (RCS) FoR 24

 Orientation Smoothing for Bevel Cutting

Introduction

Kinematic Ausschwenkpunkt
Robot Types Swing-out Point
Offset Contour
Versatzkontur
Coordinate Einschwenkpunkt
Swing-in Point
Transformations Fase 2
Bevel
Motion Control
& Path Planning
Bevel11
Fase Corner Point
Eckpunkt

Handling Systems

Eck
Robot Programming

Safety

kan
Sensors

te
Robot Hardware

Performance and
Accuracy

PD Dr.-Ing Jobst Bickendorf Control and cyberphysical systems (RCS) FoR 25

 Orientation Smoothing for Bevel Cutting

Introduction

Kinematic
Robot Types

Coordinate
Transformations

Motion Control
& Path Planning

Handling Systems

Robot Programming

Safety

Sensors

Robot Hardware

Performance and
Accuracy

PD Dr.-Ing Jobst Bickendorf Control and cyberphysical systems (RCS) FoR 26

 Orientation Smoothing

Introduction

Kinematic
Robot Types

Coordinate
Sphere for smoothing of
Transformations orientation
Motion Control
& Path Planning

Handling Systems

Robot Programming

Safety

Sensors Effector
Robot Hardware

Performance and
Accuracy
Start End

PD Dr.-Ing Jobst Bickendorf Control and cyberphysical systems (RCS) FoR 27

 Combined Orientation and Path Smoothing

Introduction

Kinematic
Robot Types

Coordinate
Sphere for smoothing of Sphere for path
Transformations orientation smoothing
Motion Control
& Path Planning

Handling Systems

Robot Programming

Safety

Sensors Effector
Robot Hardware

Performance and
Accuracy
Start End

PD Dr.-Ing Jobst Bickendorf Control and cyberphysical systems (RCS) FoR 28

 Good Orientation Interpolation at a funnel

Introduction

Kinematic
Robot Types

Coordinate
Transformations

Motion Control
& Path Planning

Handling Systems

Robot Programming

Safety

Sensors

Robot Hardware

Performance and
Accuracy

PD Dr.-Ing Jobst Bickendorf Control and cyberphysical systems (RCS) FoR 29

 Wrong Orientation Interpolation at a funnel

Introduction

Kinematic
Robot Types

Coordinate
Transformations

Motion Control
& Path Planning

Handling Systems

Robot Programming

Safety

Sensors

Robot Hardware

Performance and
Accuracy

PD Dr.-Ing Jobst Bickendorf Control and cyberphysical systems (RCS) FoR 30

 Learning Objectives – Motion Control and Path Planning

 Please name the two major interpolation types used in robot controllers.
What are their characteristics?
Please describe their advantages and disadvantages.
 What is the difference between asynchronous PTP and synchronous PTP?
 Please describe the synchronization steps of synchronous PTP.
 Please describe the dependency of the path accuracy on the interpolation
cycle time and the shape of the path.
 Please describe the characteristics, advantages and disadvantages of ramp
profiles for interpolation.
 Please describe the characteristics, advantages and disadvantages of
sinusoidal profiles for interpolation.
 Please describe the principle of path smoothing.
 What are the differences between position-controlled path smoothing and
velocity-controlled path smoothing.
 What is orientation smoothing?
Please describe an example application where it is needed.

PD Dr.-Ing Jobst Bickendorf Control and cyberphysical systems (RCS) FoR 31