Application of mode-based optimization in robotic manipulations

In robotic manipulation the interaction between robot and environment is an essential part of the task. In order to deal with impacts, friction, and constrained motions a model-based optimization approach is suggested, which relies on a detailed dynamic model of the manipulator itself, the process dynamics of the task, and the interactions between those two. The models are used to define an optimization problem, which is then solved using numerical programming methods. It is illustrated with an assembly task, namely mating a pair of snap fits. Utilizing a pre-optimized dynamic response behavior of the robot as developed in our former work (1996), we plan the trajectory and design parameters of the parts to be assembled, which influence the process dynamics and thus the external excitation of the manipulator dynamics. Advantages of the approach include an easy implementation in industrial application and reduction in the cycle time.