A concept for automated pick-and-place motion planning for industrial robots

Nowadays, more and more flexible and efficient processes are required in modern industrial applications.In this field, robots are a key technoligy.In this paper a application is considered, where a 6-axis-industrial robot has to pick-and-place objects time efficiently in a constantly changing environment.Therefore, a concept for automated motion planning is presented, which is composed of two steps which are path planning and trajectory generation.In this paper suitable and established model-based methods are analyzed and chosen.Eventually, the suitability of the presented concept for the considered task is shown by implementing the concept in Matlab and applying it to a 6-axis articulated robot arm.