From trapezoid to polynomial: Next-generation energy-efficient robot trajectories

• 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.

Ämnesord

TEKNIK OCH TEKNOLOGIER  -- Elektroteknik och elektronik -- Robotteknik och automation (hsv//swe)

ENGINEERING AND TECHNOLOGY  -- Electrical Engineering, Electronic Engineering, Information Engineering -- Robotics (hsv//eng)

Nyckelord

Mathematical model

Acceleration

Optimization

Solid modeling

Trajectory

Service robots

Publikations- och innehållstyp

kon (ämneskategori)

ref (ämneskategori)