Industrial robot path optimization approach with asynchronous fly-by in joint space

In this paper, there is presented a novice industrial robot manipulator trajectory optimization method for series of point-to-point type movements. The approach modifies axes' kinematic profiles reducing the acceleration phases, motor torques and therefore the total energy consumption per nonincreasing cycle time. Method is based on asynchronous motion profile smoothening using cubic B-spline interpolation and is suitable for optimization of existing robot programs for handling or welding applications that use the point-to-point movement commands.