From trapezoid to polynomial: Next-generation energy-efficient robot trajectories
Paper in proceedings, 2017

This paper evaluates some techniques for generating robot trajectories including state of the art energy-efficient trajectories, as well as more traditional trapezoidal velocity profiles used in today's robot traditional trajectory planning. In our recent publications we have demonstrated that it is possible to convert the existing velocity profiles of KUKA robots to energy-efficient ones, with impressive results in reducing energy consumption and peak-power. In this paper we give more in-depth insight as to how the proposed velocity profiles compare with their trapezoidal or polynomial counter-parts.

Mathematical model

Acceleration

Optimization

Solid modeling

Trajectory

Service robots

Author

Sarmad Riazi

Chalmers, Signals and Systems, Systems and control, Automation

Kristofer Bengtsson

Chalmers, Signals and Systems, Systems and control, Automation

Bengt Lennartson

Chalmers, Signals and Systems, Systems and control, Automation

Automation Science and Engineering (CASE), 2017 13th IEEE Conference on

2161-8089 (eISSN)

13th IEEE Conference on Automation Science and Engineering, CASE 2017
Wyndham Grand HotelXi'an, China,

Automation and Robotics for EUropean Sustainabile manufacturing (AREUS)

European Commission (FP7), 2013-09-01 -- 2016-08-31.

Areas of Advance

Production

Subject Categories

Robotics

DOI

10.1109/COASE.2017.8256265

More information

Latest update

1/16/2019