|P. Boscariol, A. Gasparella, A. Gasparetto, N. Lever, D. Richiedei, A. Trevisani R. Vidoni|
|Energy efficiency and smoothness in robotics trajectory planning: numerical simulation and comparison|
|Proc. of the Austrian Robotics Workshop (ARW 2013), Vienna (Austria), May 23-24, 2013, pp. 7-12|
Abstract: In this paper, the most widely adopted industrial
off-line non model-based trajectories together with optimum
time-jerk and time-energy algorithms are considered and evaluated
in terms of energy efficiency and smoothness.
First of all, a robotic dynamic simulator able to run different
laws of motion, to simulate the robot dynamic behavior and to
evaluate the amount of mechanical energy, torque and jerk, has
been developed and implemented in Matlab.
After that, both point-to-point and pick-and-place trajectories
have been simulated by comparing different motion laws
whose results have been evaluated and ranked from both the
energy efficiency and smoothness point of view.
Finally, a performance index able to take into account the
energetic and vibrational performance has been defined to
compare the different trajectory planning algorithms.