From trapezoid to polynomial: Next-generation energy-efficient robot trajectories
Paper i proceeding, 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.

Trajectory

Service robots

Solid modeling

Acceleration

Optimization

Mathematical model

Författare

Sarmad Riazi

Signaler och system, System- och reglerteknik, Automation

Kristofer Bengtsson

Signaler och system, System- och reglerteknik, Automation

Bengt Lennartson

Signaler och system, System- och reglerteknik, Automation

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

2161-8089 (eISSN)

Styrkeområden

Produktion

Ämneskategorier

Robotteknik och automation