Comparative Analysis of Energy-Based Criteria for Dynamics-Based Robot Motion Optimization

We perform a comparative analysis of energy-based performance criteria for the dynamics-based optimization of robot trajectories. The performance criteria considered include minimum torque, electrical power loss, approximation to mechanical work, and energy loss due to friction. Our dynamics model takes into account rotor inertias and gearing, and also considers robots subject to a range of motion types and payloads. High fidelity numerical simulation experiments are performed and compared for the various performance criteria. Our analysis and findings refute some commonly held assumptions about dynamics-based robot motion optimization, and offer practical insights on how to effectively leverage robot dynamic models and optimization into industrial robot trajectory generation.