Background
This project was funded through an ARM Institute Project Call that sought to respond to pervasive areas of need in U.S. manufacturing and, specifically, address key Department of Defense (DoD) manufacturing-focused Modernization Priorities. This and the other selected projects address issues found by the DoD and commercial community to be the most urgent and important that the ARM Institute’s ecosystem of 330+ member organizations can help solve.
Objective & Technical Approach
This project aims to autonomously create a high-speed and high-precision curvilinear robot tool trajectory on a complex curved geometry using industrial robots with redundant degrees of freedom, to reduce or eliminate the need for manual tuning often required today.
The project will develop an optimization approach to decompose a given path to a sequence of robot motion primitives to achieve minimum cycle time with guaranteed tracking accuracy. Simulation-based data will be used to train machine learning tools to reduce the optimization computation time.