Lazy motion planning for robotic manipulators

Onderzoeksoutput: Bijdrage aan congresAbstract

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Samenvatting

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.
Originele taal-2Engels
Aantal pagina's1
StatusGepubliceerd - 27 mrt 2017
Evenement36th Benelux Meeting on Systems and Control, 28-30 March 2017, Spa, Belgium - Sol-Cress, Spa, België
Duur: 28 mrt 201730 mrt 2017
http://www.beneluxmeeting.nl/2017/

Congres

Congres36th Benelux Meeting on Systems and Control, 28-30 March 2017, Spa, Belgium
LandBelgië
StadSpa
Periode28/03/1730/03/17
Internet adres

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Citeer dit

Andrien, A. R. P., van de Molengraft, M. J. G., & Bruyninckx, H. P. J. (2017). Lazy motion planning for robotic manipulators. Abstract van 36th Benelux Meeting on Systems and Control, 28-30 March 2017, Spa, Belgium, Spa, België.