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P. Boscariol, R. Caracciolo, D. Richiedei
Energy Optimal Design of Jerk-Continuous Trajectories for Industrial Robots
In: Niola V., Gasparetto A. (eds) Advances in Italian Mechanism Science. IFToMM ITALY 2020. Mechanisms and Machine Science, vol 91. Springer, Cham.

Abstract: t In this paper a method for planning smooth and energy-efficient trajectories for industrial robots is presented. The motion design, which is based on the use of piecewise polynomial functions, is optimized for achieving minimum energy consumption when executing a trajectory that passes through a sequence of via-points with C3 continuity. For robots with simple kinematics, such as the Cartesian robot presented in this work, the energy consumption estimation can be performed using equations based on inverse dynamic models that allow fast and reliable numerical computing.


Area: Robotica
Attivitą: RobTraj: studio di traiettorie per robot

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