Efficient Cable Path Optimization Based on Critical Robot Poses for Industrial Robot Arms

Although industrial robotic arms are equipped with external cables to supply electricity, gases or other materials, cable path design is a difficult and demanding task. Herein, an efficient optimization method proposed for automating under the assumption that robot motion known. The contribution of this study was reduce considerable computation time required optimization, which concern in our previous work. represented candidates paths as set parameter vectors (PVs) included length guide configurations, then selected optimal PV satisfies stress constraints provided shortest path. extracted critical poses, i.e., several static poses prone applying cable, from joint angle series path, performed attachment tests. geometry simulated test, while dynamic test ascending order among candidates. Experimental results showed could be significantly reduced.