Energy optimal manipulation of an industrial robot ECCOMAS thematic conference on multibody dynamics 2015

Thomas Lauß, Peter Leitner, Stefan Oberpeilsteiner, Wolfgang Steiner

Publikation: Beitrag in Buch/Bericht/TagungsbandKonferenzbeitragBegutachtung

1 Zitat (Scopus)

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 [3, 5, 4]. 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.

OriginalspracheEnglisch
TitelProceedings of the ECCOMAS Thematic Conference on Multibody Dynamics 2015, Multibody Dynamics 2015
Redakteure/-innenJosep M. Font-Llagunes
Herausgeber (Verlag)International Center for Numerical Methods in Engineering
Seiten789-798
Seitenumfang10
ISBN (elektronisch)9788494424403
PublikationsstatusVeröffentlicht - 2015
Veranstaltung2015 ECCOMAS Thematic Conference on Multibody Dynamics, Multibody Dynamics 2015 - Barcelona, Spanien
Dauer: 29 Jun 20152 Jul 2015

Publikationsreihe

NameProceedings of the ECCOMAS Thematic Conference on Multibody Dynamics 2015, Multibody Dynamics 2015

Konferenz

Konferenz2015 ECCOMAS Thematic Conference on Multibody Dynamics, Multibody Dynamics 2015
Land/GebietSpanien
OrtBarcelona
Zeitraum29.06.201502.07.2015

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