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From trapezoid to p...
From trapezoid to polynomial: Next-generation energy-efficient robot trajectories
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- Riazi, Sarmad, 1986 (author)
- Chalmers tekniska högskola,Chalmers University of Technology
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- Bengtsson, Kristofer, 1979 (author)
- Chalmers tekniska högskola,Chalmers University of Technology
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- Lennartson, Bengt, 1956 (author)
- Chalmers tekniska högskola,Chalmers University of Technology
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(creator_code:org_t)
- 2017
- 2017
- English.
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In: IEEE International Conference on Automation Science and Engineering. - 2161-8070 .- 2161-8089. ; 2017-August
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Abstract
Subject headings
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- 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.
Subject headings
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Robotteknik och automation (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Robotics (hsv//eng)
Keyword
- Mathematical model
- Acceleration
- Optimization
- Solid modeling
- Trajectory
- Service robots
Publication and Content Type
- kon (subject category)
- ref (subject category)
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