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Authors: K. Koray Ayten ; P. Iravani and M. Necip Sahinkaya

Affiliation: University of Bath, United Kingdom

Keyword(s): Optimum control, Inverse dynamics, Torque minimization, Trajectory planning.

Related Ontology Subjects/Areas/Topics: Evolutionary Computation and Control ; Industrial Automation and Robotics ; Industrial Engineering ; Informatics in Control, Automation and Robotics ; Intelligent Control Systems and Optimization ; Mechatronic Systems ; Optimization Algorithms ; Systems Modeling and Simulation

Abstract: This paper presents a method for developing robot trajectories that achieve minimum energy consumption for a point-to-point motion under kinematic and dynamic constraints. The method represents trajectories as a fourth degree B-spline function. The parameters of the function are optimised using a multi-parametric optimization algorithm. Actuator torques have been considered for the formulation of the cost function, which utilizes an inverse dynamics analysis. Compared to other trajectory optimization techniques, the proposed method allows kinematic and dynamic constraints to be included in the cost function. Thus, the complexity and computational effort of the optimization algorithm is reduced. A two-link simulated robot manipulator is used to demonstrate the effectiveness of the method.

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Paper citation in several formats:
Ayten, K.; Iravani, P. and Sahinkaya, M. (2011). OPTIMUM TRAJECTORY PLANNING FOR INDUSTRIAL ROBOTS THROUGH INVERSE DYNAMICS. In Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO; ISBN 978-989-8425-74-4; ISSN 2184-2809, SciTePress, pages 105-110. DOI: 10.5220/0003536301050110

@conference{icinco11,
author={K. Koray Ayten. and P. Iravani. and M. Necip Sahinkaya.},
title={OPTIMUM TRAJECTORY PLANNING FOR INDUSTRIAL ROBOTS THROUGH INVERSE DYNAMICS},
booktitle={Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO},
year={2011},
pages={105-110},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0003536301050110},
isbn={978-989-8425-74-4},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO
TI - OPTIMUM TRAJECTORY PLANNING FOR INDUSTRIAL ROBOTS THROUGH INVERSE DYNAMICS
SN - 978-989-8425-74-4
IS - 2184-2809
AU - Ayten, K.
AU - Iravani, P.
AU - Sahinkaya, M.
PY - 2011
SP - 105
EP - 110
DO - 10.5220/0003536301050110
PB - SciTePress

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