Multi-DOF Robotic Manipulator Trajectory Controlling based on Minimum Energy Optimization

DOI

10.2991/aiie-15.2015.96How to use a DOI?

Keywords

robotic manipulator; mathematical model; torque model; variational principle; energy consumption

Abstract

This paper presents a methodology for determining an optimal trajectory based on minimizing energy consumption. Firstly we analyze a work process of a robotic manipulator between two given configurations at a given time, and the effect of main factors on motor energy consumption is also analyzed. A mathematical model of torque is used for obtaining a mathematical expression of each joint’s torque and angle relationships. More specifically, for a multi-variable, higher order total torque model, a variational principle is used to obtain many differential equations for a multi-DOF (degrees of freedom) robotic manipulator, and iterative optimization is used to determine the optimal trajectory. Finally, a simulation shows that the optimal trajectory can save energy compared with two other trajectories.

Copyright

© 2015, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - H. Du
AU  - J. M. Du
AU  - L.A. Chen
AU  - Z.W. Mai
AU  - X.H. Liu
AU  - H.Z. Cai
PY  - 2015/07
DA  - 2015/07
TI  - Multi-DOF Robotic Manipulator Trajectory Controlling based on Minimum Energy Optimization
BT  - Proceedings of the 2015 International Conference on Artificial Intelligence and Industrial Engineering
PB  - Atlantis Press
SP  - 345
EP  - 349
SN  - 1951-6851
UR  - https://doi.org/10.2991/aiie-15.2015.96
DO  - 10.2991/aiie-15.2015.96
ID  - Du2015/07
ER  -