Activity: Talk or presentation › Oral presentation
Description
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 Hessian can be appreciated. The theory is applied to a six-axis
robot and the identification leads to a reduction of 47% of the signal energy.
Period
13 May 2016
Event title
OAGM & ARW Joint Workshop on Computer Vision and Robotics