Paper Info
Title
From Trapezoid To Polynomial: Next-Generation Energy-Efficient Robot Trajectories
Abstract
This paper evaluates some techniques for generating robot trajectories including state of the art energy-efficient trajectories, as well as more traditional trapezoidal velocity profiles used in today's robot traditional trajectory planning. In our recent publications we have demonstrated that it is possible to convert the existing velocity profiles of KUKA robots to energy-efficient ones, with impressive results in reducing energy consumption and peak-power. In this paper we give more in-depth insight as to how the proposed velocity profiles compare with their trapezoidal or polynomial counter-parts.
Year
Venue
Field
2017
2017 13TH IEEE CONFERENCE ON AUTOMATION SCIENCE AND ENGINEERING (CASE)
Polynomial,Computer science,Control theory,Efficient energy use,Acceleration,Solid modeling,Robot,Energy consumption,Trajectory,Trajectory planning
DocType
ISSN
Citations 
Conference
2161-8070
0
PageRank 
References 
Authors
0.34
0
3
Name
Order
Citations
PageRank
Sarmad Riazi1256.54
Kristofer Bengtsson29913.15
Bengt Lennartson3934118.87