Kinodynamic Motion Planning and Energy Loss Cost Function Modelling for a 2- DOF Robot Arm Manipulator

Hosseini S, Hahn I (2020)


Publication Type: Conference contribution

Publication year: 2020

Publisher: Institute of Electrical and Electronics Engineers Inc.

Book Volume: 2020-February

Pages Range: 375-380

Conference Proceedings Title: Proceedings of the IEEE International Conference on Industrial Technology

Event location: Buenos Aires AR

ISBN: 9781728157542

DOI: 10.1109/ICIT45562.2020.9067281

Abstract

This paper proposes an energy efficient motion planning for industrial robots with a novel cost function formulation. The dynamics of the 2-DOF (degree of freedom) robot arm manipulator, models the inertia and mass related losses, Coriolis and centrifugal losses of each link, friction losses and losses related to the gravity. A DC motor is used in each joint to drive the manipulator. For the point-to-point (PTP) trajectories, a fifth order polynomial is considered. Furthermore, the torque analysis with respect to the already mentioned loss terms is done and its effect on the overall electrical and mechanical losses is discussed. These torques and losses analyses are gained by the forward dynamics and inverse kinematics of the 2-DOF manipulator. In the last part, the simulation results of the power losses cost function (PLCF) with respect to the terms associated to velocity and acceleration of each link in every single time instant of the motion is modelled.

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How to cite

APA:

Hosseini, S., & Hahn, I. (2020). Kinodynamic Motion Planning and Energy Loss Cost Function Modelling for a 2- DOF Robot Arm Manipulator. In Proceedings of the IEEE International Conference on Industrial Technology (pp. 375-380). Buenos Aires, AR: Institute of Electrical and Electronics Engineers Inc..

MLA:

Hosseini, Sara, and Ingo Hahn. "Kinodynamic Motion Planning and Energy Loss Cost Function Modelling for a 2- DOF Robot Arm Manipulator." Proceedings of the 21st IEEE International Conference on Industrial Technology, ICIT 2020, Buenos Aires Institute of Electrical and Electronics Engineers Inc., 2020. 375-380.

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