Model-free approaches for the energy minimization of robot trajectories
Conference contribution, 2014

Energy eciency is increasingly important for robotic manufacturing systems. An energy minimal schedule may be generated given that the energy consumption for each robot operation may be parameterized as a function of execution time. Existing approaches rely heavily on the use of models to generate functions describing energy consumption. We are interested in solving the problem using model-free approaches, such as Iterative Learning Control, model-free/iterative Dynamic Programming and derivative free optimization.

Trajectory planning

Optimization

Author

Oskar Wigström

Chalmers, Signals and Systems, Systems and control, Automation

Bengt Lennartson

Chalmers, Signals and Systems, Systems and control, Automation

Reglermöte 2014

Areas of Advance

Production

Subject Categories

Computational Mathematics

More information

Created

10/8/2017