Design and implementation of a path planning for a high-dynamic handling system

The focus of this paper is the design of a software framework for a pick and place handling system. The handling system should provide high dynamics as well as high flexibility. Therefor an extensive motion program system with a simple script language is developed, which allows the user to easily adapt motion sequences and teach positions. Furthermore a path interpolation algorithm, including position and orientation interpolation, is presented. Finally, the concept was implemented on a programmable logical controller and measurements were made on a prototype.