Time-Optimal Pick-and-Throw S-Curve Trajectories for Fast Parallel Robots - LIRMM - Laboratoire d’Informatique, de Robotique et de Microélectronique de Montpellier Access content directly
Journal Articles IEEE/ASME Transactions on Mechatronics Year : 2022

Time-Optimal Pick-and-Throw S-Curve Trajectories for Fast Parallel Robots

Ghina Hassan
Pierre-Elie Hervé
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  • PersonId : 1034068
Maher El Rafei
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  • PersonId : 1061038
Clovis Francis
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  • PersonId : 859784
Damien Sallé
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  • PersonId : 933760


In suitable robotic applications, throwing an object instead of placing it has the potential of improving the cycle time. In this context, a challenge is to generate time-optimal Pick-and-Throw (P&T) trajectories in order to further increase productivity. This paper introduces a methodology to determine a minimum-time throwing motion. This methodology consists essentially in determining an optimal release configuration (i.e. position and velocity) allowing an object to be thrown towards a desired target while minimizing the travel time of the throwing motion of the robot. To validate the potential of the proposed P&T approach, a comparison with the standard Pick-and-Place (P&P) process and an existing P&T method is made using the Delta-like parallel robot T3KR under different operating conditions. The obtained experimental results demonstrate the superiority and efficiency of the proposed P&T approach over the usual P&P and the existing P&T methods in terms of picking speed and cycle time.


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Dates and versions

lirmm-03650958 , version 1 (25-04-2022)



Ghina Hassan, Marc Gouttefarde, Ahmed Chemori, Pierre-Elie Hervé, Maher El Rafei, et al.. Time-Optimal Pick-and-Throw S-Curve Trajectories for Fast Parallel Robots. IEEE/ASME Transactions on Mechatronics, 2022, 27 (6), pp.4707-4717. ⟨10.1109/TMECH.2022.3164247⟩. ⟨lirmm-03650958⟩
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