IJAT Vol.10 No.6 pp. 941-949
doi: 10.20965/ijat.2016.p0941


Increased Productivity for Redundant Laser Scanners Using an Optimal Trajectory Separation Method

Titus Haas*,**,†, Maximilian Warhanek*, Michael Dietlicher*, and Konrad Wegener*

*Institute of Machine Tools and Manufacturing
Leonhardstrasse 21, 8092 Zürich, Switzerland

Corresponding author,

**inspire AG, Technoparkstrasse 1, 8005 Zürich, Switzerland

April 30, 2016
August 31, 2016
November 4, 2016
redundancy, trajectory separation, set point generation, productivity, laser scanner
Combining an optical laser scanning system with mechanical axes in a redundant configuration and synchronised control allows the separation of scanning motions according to the strengths of the two systems. Assigning the highly dynamic movement part to the agile optical axes reduces the acceleration and jerk of the mechanical axes. The mechanical axes enable precise motion over the whole workspace, that cannot be achieved by optical systems. The determination of the ideal trajectory separation among the two redundant systems poses an optimisation problem. This study proposes a method for the calculation of the optimal trajectory separation and for productivity increases. Furthermore, a windowing technique is introduced to limit the required computational power. The operation of the optimisation algorithm is demonstrated based on example geometries. It is shown that the machining time is decreased, and the jerk of the solution is minimised. The method is verified using a laser scanning system.
Cite this article as:
T. Haas, M. Warhanek, M. Dietlicher, and K. Wegener, “Increased Productivity for Redundant Laser Scanners Using an Optimal Trajectory Separation Method,” Int. J. Automation Technol., Vol.10 No.6, pp. 941-949, 2016.
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Last updated on Jun. 03, 2024