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

被引:0
|
作者
Hong, Youngsuk [1 ]
Kim, Jinkyu [1 ]
Park, Frank C. [1 ]
机构
[1] Seoul Natl Univ, Dept Mech Engn, Seoul, South Korea
来源
2017 IEEE CONFERENCE ON CONTROL TECHNOLOGY AND APPLICATIONS (CCTA 2017) | 2017年
关键词
MANIPULATORS; CALIBRATION;
D O I
暂无
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
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.
引用
收藏
页码:175 / 180
页数:6
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