Proceedings of the 2015 International Conference on Artificial Intelligence and Industrial Engineering

Multi-DOF Robotic Manipulator Trajectory Controlling based on Minimum Energy Optimization

Authors
H. Du, J. M. Du, L.A. Chen, Z.W. Mai, X.H. Liu, H.Z. Cai
Corresponding Author
H. Du
Available Online July 2015.
DOI
10.2991/aiie-15.2015.96How to use a DOI?
Keywords
robotic manipulator; mathematical model; torque model; variational principle; energy consumption
Abstract

This paper presents a methodology for determining an optimal trajectory based on minimizing energy consumption. Firstly we analyze a work process of a robotic manipulator between two given configurations at a given time, and the effect of main factors on motor energy consumption is also analyzed. A mathematical model of torque is used for obtaining a mathematical expression of each joint’s torque and angle relationships. More specifically, for a multi-variable, higher order total torque model, a variational principle is used to obtain many differential equations for a multi-DOF (degrees of freedom) robotic manipulator, and iterative optimization is used to determine the optimal trajectory. Finally, a simulation shows that the optimal trajectory can save energy compared with two other trajectories.

Copyright
© 2015, the Authors. Published by Atlantis Press.
Open Access
This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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Volume Title
Proceedings of the 2015 International Conference on Artificial Intelligence and Industrial Engineering
Series
Advances in Intelligent Systems Research
Publication Date
July 2015
ISBN
10.2991/aiie-15.2015.96
ISSN
1951-6851
DOI
10.2991/aiie-15.2015.96How to use a DOI?
Copyright
© 2015, the Authors. Published by Atlantis Press.
Open Access
This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

Cite this article

TY  - CONF
AU  - H. Du
AU  - J. M. Du
AU  - L.A. Chen
AU  - Z.W. Mai
AU  - X.H. Liu
AU  - H.Z. Cai
PY  - 2015/07
DA  - 2015/07
TI  - Multi-DOF Robotic Manipulator Trajectory Controlling based on Minimum Energy Optimization
BT  - Proceedings of the 2015 International Conference on Artificial Intelligence and Industrial Engineering
PB  - Atlantis Press
SP  - 345
EP  - 349
SN  - 1951-6851
UR  - https://doi.org/10.2991/aiie-15.2015.96
DO  - 10.2991/aiie-15.2015.96
ID  - Du2015/07
ER  -