Problems with robot dress packs are a major reason for on-line adjustments of robot programs and down-time in robot stations. It is therefore of high value if the physical behaviour of the dress packs can be considered with simulation methods already during the off-line programming process for a robot station.

This paper presents a method for quasi-static path optimization for an industrial robot with respect to its deformable dress pack. Given an initial collision-free path generated by an automatic path planner, the via point configurations of the path are optimized with respect to the performance aspects of the dress pack. The method is derived from a general framework for parameter optimization of a mechanical system subject to quasi-static motions and deformations. The optimal parameter values are obtained from numerical solutions to a non-linear programming problem in which the static equilibrium equations of the system hold at discrete times. Due to the large-scale nature of this problem, a dress pack is modelled as a discrete Cosserat rod, which is the preferred choice for modeling large spatial deformations of a slender flexible structure with coarse discretization.

The method is applied to an industrial robot moving in-between stud welding operations in a stud welding station. The optimized path reduces the stress in the dress pack and keeps the dressed robot from the surrounding geometry with a prescribed safety clearance during the entire robot motion.

机器人服装包的问题是在线调整机器人程序和减少机器人站停机时间的主要原因。因此，如果可以在机器人站的离线编程过程中已经通过模拟方法考虑服装包的物理性能，则将具有很高的价值。

本文针对工业机器人的可变形套件，提出了一种用于准静态路径优化的方法。给定由自动路径规划器生成的初始无冲突路径，就穿衣包的性能方面优化了路径的过孔点配置。该方法源自用于准静态运动和变形的机械系统参数优化的一般框架。最佳参数值是从非线性规划问题的数值解获得的，其中系统的静态平衡方程在离散时间存在。由于此问题的规模大，因此将礼服包建模为离散的Cosserat杆，

该方法应用于在螺柱焊接站中的螺柱焊接操作之间移动的工业机器人。优化的路径减少了装束中的压力，并在整个机器人运动期间以规定的安全距离将穿戴好的机器人与周围的几何形状保持隔离。