@inproceedings{96c5222479214e22b3d81d01c4c0d1a8,

title = "Energy optimal manipulation of an industrial robot ECCOMAS thematic conference on multibody dynamics 2015",

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.",

keywords = "Adjoint system, Calculus of variation, Multibody dynamics, Optimal control, Optimization",

author = "Thomas Lau{\ss} and Peter Leitner and Stefan Oberpeilsteiner and Wolfgang Steiner",

year = "2015",

language = "English",

series = "Proceedings of the ECCOMAS Thematic Conference on Multibody Dynamics 2015, Multibody Dynamics 2015",

publisher = "International Center for Numerical Methods in Engineering",

pages = "789--798",

editor = "Font-Llagunes, {Josep M.}",

booktitle = "Proceedings of the ECCOMAS Thematic Conference on Multibody Dynamics 2015, Multibody Dynamics 2015",

note = "2015 ECCOMAS Thematic Conference on Multibody Dynamics, Multibody Dynamics 2015 ; Conference date: 29-06-2015 Through 02-07-2015",

}