Lazy motion planning for robotic manipulators

Onderzoeksoutput: Bijdrage aan congresAbstractAcademic

Uittreksel

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.

Congres

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

Vingerafdruk

Motion planning
Manipulators
Robotics
Robots
Feedback linearization
Energy resources
Industry

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.
Andrien, A.R.P. ; van de Molengraft, M.J.G. ; Bruyninckx, H.P.J./ Lazy motion planning for robotic manipulators. Abstract van 36th Benelux Meeting on Systems and Control, 28-30 March 2017, Spa, Belgium, Spa, België.1 blz.
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Lazy motion planning for robotic manipulators. / Andrien, A.R.P.; van de Molengraft, M.J.G.; Bruyninckx, H.P.J.

2017. Abstract van 36th Benelux Meeting on Systems and Control, 28-30 March 2017, Spa, Belgium, Spa, België.

Onderzoeksoutput: Bijdrage aan congresAbstractAcademic

TY - CONF

T1 - Lazy motion planning for robotic manipulators

AU - Andrien,A.R.P.

AU - van de Molengraft,M.J.G.

AU - Bruyninckx,H.P.J.

PY - 2017/3/27

Y1 - 2017/3/27

N2 - Robotic manipulators are making a shift towards mobilebases in both industry and domestic environments, whichputs 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.

AB - Robotic manipulators are making a shift towards mobilebases in both industry and domestic environments, whichputs 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.

M3 - Abstract

ER -

Andrien ARP, van de Molengraft MJG, Bruyninckx HPJ. Lazy motion planning for robotic manipulators. 2017. Abstract van 36th Benelux Meeting on Systems and Control, 28-30 March 2017, Spa, Belgium, Spa, België.