Optimum trajectory planning for industrial robots through inverse dynamics

K K Ayten, Pejman Iravani, M Necip Sahinkaya

Research output: Chapter in Book/Report/Conference proceedingChapter

3 Citations (Scopus)

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.
Original languageEnglish
Title of host publicationICINCO 2011 - Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics
Place of PublicationSetubal, Portugal
PublisherINSTICC Press
Pages105-110
Number of pages6
Publication statusPublished - Jul 2011
Event8th International Conference on Informatics in Control, Automation and Robotics, ICINCO 2011, July 28, 2011 - July 31, 2011 - Noordwijkerhout, Netherlands
Duration: 1 Jul 2011 → …

Conference

Conference8th International Conference on Informatics in Control, Automation and Robotics, ICINCO 2011, July 28, 2011 - July 31, 2011
CountryNetherlands
CityNoordwijkerhout
Period1/07/11 → …

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  • Cite this

    Ayten, K. K., Iravani, P., & Sahinkaya, M. N. (2011). Optimum trajectory planning for industrial robots through inverse dynamics. In ICINCO 2011 - Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics (pp. 105-110). INSTICC Press.