Abstract
The main goal of this contribution is to determine the excitation of an industrial robot, such that the energy consumption becomes a minimum during the manipulation of the tool center point (TCP)
from a start position to a given end point within a predefined time. Such tasks can be restated as
optimization problems where the functional to be minimized consists of the endpoint error and a measure for the energy. The gradient of this functional can be calculated by solving a linear
differential equation, called the adjoint system. On the one hand the minimum of the cost functional can be achieved by the method of steepest descent where a proper step size has to be found or on the other hand by a Quasi-Newton algorithm where the inverse of the Hessian can be appreciated.
Originalsprache | Englisch |
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Titel | Energy Optimal Manipulation of an Industrial Robot |
Seiten | 1-10 |
Publikationsstatus | Veröffentlicht - 2015 |
Veranstaltung | ECCOMAS Thematic Conference on Multibody Dynamics - Barcelona, Spanien Dauer: 29 Juni 2015 → 2 Juli 2015 http://www.multibody2015.org/ |
Konferenz
Konferenz | ECCOMAS Thematic Conference on Multibody Dynamics |
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Land/Gebiet | Spanien |
Ort | Barcelona |
Zeitraum | 29.06.2015 → 02.07.2015 |
Internetadresse |
Schlagwörter
- optimal control
- multibody dynamics
- adjoint system
- optimization
- calculus of variation