Lazy motion planning for robotic manipulators

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Abstract

Robotic manipulators are making a shift towards mobile
bases in both industry and domestic environments, which
puts high demands on efficient use of the robot’s limited energy resources. In this work, the problem of reducing energy usage of a robot manipulator during a task is investigated. We achieve this by allowing the robot to rest on a surface,
i.e., by making it lazy.
Energy reduction is often formulated as an optimization problem, which due to the high dimensionality and nonlinearity of robot manipulators is often computationally expensive. This is avoided by separating the task into two parts and subsequently using feedback linearization and optimization on each part.
Original languageEnglish
Number of pages1
Publication statusPublished - 27 Mar 2017
Event36th Benelux Meeting on Systems and Control, 28-30 March 2017, Spa, Belgium - Sol-Cress, Spa, Belgium
Duration: 28 Mar 201730 Mar 2017
http://www.beneluxmeeting.nl/2017/

Conference

Conference36th Benelux Meeting on Systems and Control, 28-30 March 2017, Spa, Belgium
CountryBelgium
CitySpa
Period28/03/1730/03/17
Internet address

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