Comparative analysis of energy-based criteria for dynamics-based robot motion optimization

Youngsuk Hong, Jinkyu Kim, Frank C. Park

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

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.

Original languageEnglish
Title of host publication1st Annual IEEE Conference on Control Technology and Applications, CCTA 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages175-180
Number of pages6
ISBN (Electronic)9781509021826
DOIs
Publication statusPublished - 2017 Oct 6
Externally publishedYes
Event1st Annual IEEE Conference on Control Technology and Applications, CCTA 2017 - Kohala Coast, United States
Duration: 2017 Aug 272017 Aug 30

Publication series

Name1st Annual IEEE Conference on Control Technology and Applications, CCTA 2017
Volume2017-January

Conference

Conference1st Annual IEEE Conference on Control Technology and Applications, CCTA 2017
Country/TerritoryUnited States
CityKohala Coast
Period17/8/2717/8/30

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Hardware and Architecture
  • Software
  • Control and Systems Engineering

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