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

Thomas Lauß, Peter Leitner, Stefan Oberpeilsteiner, Wolfgang Steiner

Research output: Chapter in Book/Report/Conference proceedingsConference contributionpeer-review

1 Citation (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.

Original languageEnglish
Title of host publicationProceedings of the ECCOMAS Thematic Conference on Multibody Dynamics 2015, Multibody Dynamics 2015
EditorsJosep M. Font-Llagunes
PublisherInternational Center for Numerical Methods in Engineering
Pages789-798
Number of pages10
ISBN (Electronic)9788494424403
Publication statusPublished - 2015
Event2015 ECCOMAS Thematic Conference on Multibody Dynamics, Multibody Dynamics 2015 - Barcelona, Spain
Duration: 29 Jun 20152 Jul 2015

Publication series

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

Conference

Conference2015 ECCOMAS Thematic Conference on Multibody Dynamics, Multibody Dynamics 2015
CountrySpain
CityBarcelona
Period29.06.201502.07.2015

Keywords

  • Adjoint system
  • Calculus of variation
  • Multibody dynamics
  • Optimal control
  • Optimization

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