TY - GEN
T1 - Comparative analysis of energy-based criteria for dynamics-based robot motion optimization
AU - Hong, Youngsuk
AU - Kim, Jinkyu
AU - Park, Frank C.
N1 - Funding Information:
ACKNOWLEDGMENT This research was supported by a grant for the Project managed by the Agency for Defense Development. “Technology development for a rescue robot capable of lifting over 120 kg·f”, funded by the Dual-use technology program.
Publisher Copyright:
© 2017 IEEE.
PY - 2017/10/6
Y1 - 2017/10/6
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=85047640309&partnerID=8YFLogxK
U2 - 10.1109/CCTA.2017.8062459
DO - 10.1109/CCTA.2017.8062459
M3 - Conference contribution
AN - SCOPUS:85047640309
T3 - 1st Annual IEEE Conference on Control Technology and Applications, CCTA 2017
SP - 175
EP - 180
BT - 1st Annual IEEE Conference on Control Technology and Applications, CCTA 2017
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 1st Annual IEEE Conference on Control Technology and Applications, CCTA 2017
Y2 - 27 August 2017 through 30 August 2017
ER -