A New Approach to Pick-and-Place Trajectory Generation: Verification and Validation of OUTMOVES Project

OUTMOVES solution consists of a new trajectory design strategy with multi-objective optimization that solves the self-collision problem while ensuring G3-continuity and low curvatures. The technology has been developed for a sorting system for laser machine and can limit self-induced vibration during motion by over 90%, optimize energy consumption according to the production rate of the upstream line, and reduce the execution time of point-to-point motion by more than 30%. This paper focuses on the methodology used to validate the machine's operation under several real case of job-lists and the obtained results in terms of overall sorting time. This key performance indicator is essential for successfully commercializing the project outcome and has been evaluated considering all the special cases of multiple-armed gripped pieces and complex movements.