Abstract
| Language | English |
|---|---|
| Title of host publication | ICINCO 2011 - Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics |
| Place of Publication | Setubal, Portugal |
| Publisher | INSTICC Press |
| Pages | 105-110 |
| Number of pages | 6 |
| Status | Published - Jul 2011 |
| Event | 8th International Conference on Informatics in Control, Automation and Robotics, ICINCO 2011, July 28, 2011 - July 31, 2011 - Noordwijkerhout, Netherlands Duration: 1 Jul 2011 → … |
Conference
| Conference | 8th International Conference on Informatics in Control, Automation and Robotics, ICINCO 2011, July 28, 2011 - July 31, 2011 |
|---|---|
| Country | Netherlands |
| City | Noordwijkerhout |
| Period | 1/07/11 → … |
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Optimum trajectory planning for industrial robots through inverse dynamics. / Ayten, K K; Iravani, Pejman; Sahinkaya, M Necip.
ICINCO 2011 - Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics. Setubal, Portugal : INSTICC Press, 2011. p. 105-110.Research output: Chapter in Book/Report/Conference proceeding › Chapter
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TY - CHAP
T1 - Optimum trajectory planning for industrial robots through inverse dynamics
AU - Ayten, K K
AU - Iravani, Pejman
AU - Sahinkaya, M Necip
PY - 2011/7
Y1 - 2011/7
N2 - 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.
AB - 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.
UR - http://www.icinco.org/ICINCO2011/
M3 - Chapter
SP - 105
EP - 110
BT - ICINCO 2011 - Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics
PB - INSTICC Press
CY - Setubal, Portugal
ER -