Title:A Time Optimal Solution for the Waiter Motion Problem with an Industrial RobotAuthor(s):Matthias Oberherber, Hubert Gattringer, Klemens SpringerAbstract:This paper presents a time optimal solution for the "Waiter-Motion-Problem". The goal is to move a cup, that is loosely placed at the end-effector of an industrial robot, as fast as possible on a specified path. The path is defined with splines represented by Bernstein polynomials. By introducing a path parameter, the optimization problem is transformed into the phase plane and solved with a Bellman optimization strategy. Physical limitations like motor velocities, motor torques and friction forces are considered. The cycle time is reduced even more by adapting the orientation of the tray. Simulation as well as experimental results are presented.Booktitle:Proceedings of the Austrian Robotics Workshop 2013Editor(s):Wilfried Kubinger, Alexander Hofmann, Friedrich PrausISBN:978-3-200-03095-4Page Reference:page 55-60, 6 page(s)Publishing:5/2013Series:Proceedings of the Austrian Robotics Workshop 2013