Title:Optimal Path-Planning in the Special Case of Ball Throwing Using an Industrial RobotAuthor(s):Thomas Raukamp, Klemens Springer, Hubert GattringerAbstract:This paper presents optimal path planning in the special case of ball throwing. The task has to be fullfilled by a standard industrial robot with six degrees of freedom, where-fore a parameter identification is conducted. For the purpose of obtaining optimal trajectories fulfilling this exercise, cubic basis splines are used. A nonlinear optimization considering physical constraints as well as the launch angle generates the optimal motion. For the calculation of the balls flight path drag force is included. Results in simulation and at the real robot are shown.Booktitle:Proceedings of the Austrian Robotics Workshop 2013Editor(s):Wilfried Kubinger, Alexander Hofmann, Friedrich PrausISBN:978-3-200-03095-4Page Reference:page 61-66, 6 page(s)Publishing:5/2013Series:Proceedings of the Austrian Robotics Workshop 2013