Comparative analysis of energy-based criteria for dynamics-based robot motion optimization

Youngsuk Hong; Jinkyu Kim; Frank C. Park

doi:10.1109/CCTA.2017.8062459

Comparative analysis of energy-based criteria for dynamics-based robot motion optimization

Youngsuk Hong, Jinkyu Kim, Frank C. Park

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

4 Citations (Scopus)

Abstract

We perform a comparative analysis of energy-based performance criteria for the dynamics-based optimization of robot trajectories. The performance criteria considered include minimum torque, electrical power loss, approximation to mechanical work, and energy loss due to friction. Our dynamics model takes into account rotor inertias and gearing, and also considers robots subject to a range of motion types and payloads. High fidelity numerical simulation experiments are performed and compared for the various performance criteria. Our analysis and findings refute some commonly held assumptions about dynamics-based robot motion optimization, and offer practical insights on how to effectively leverage robot dynamic models and optimization into industrial robot trajectory generation.

Original language	English
Title of host publication	1st Annual IEEE Conference on Control Technology and Applications, CCTA 2017
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	175-180
Number of pages	6
ISBN (Electronic)	9781509021826
DOIs	https://doi.org/10.1109/CCTA.2017.8062459
Publication status	Published - 2017 Oct 6
Externally published	Yes
Event	1st Annual IEEE Conference on Control Technology and Applications, CCTA 2017 - Kohala Coast, United States Duration: 2017 Aug 27 → 2017 Aug 30

Publication series

Name	1st Annual IEEE Conference on Control Technology and Applications, CCTA 2017
Volume	2017-January

Conference

Conference	1st Annual IEEE Conference on Control Technology and Applications, CCTA 2017
Country/Territory	United States
City	Kohala Coast
Period	17/8/27 → 17/8/30

Bibliographical note

Funding Information:
ACKNOWLEDGMENT This research was supported by a grant for the Project managed by the Agency for Defense Development. “Technology development for a rescue robot capable of lifting over 120 kg·f”, funded by the Dual-use technology program.

Publisher Copyright:
© 2017 IEEE.

ASJC Scopus subject areas

Theoretical Computer Science
Hardware and Architecture
Software
Control and Systems Engineering

Access to Document

10.1109/CCTA.2017.8062459

Cite this

Hong, Y., Kim, J., & Park, F. C. (2017). Comparative analysis of energy-based criteria for dynamics-based robot motion optimization. In 1st Annual IEEE Conference on Control Technology and Applications, CCTA 2017 (pp. 175-180). (1st Annual IEEE Conference on Control Technology and Applications, CCTA 2017; Vol. 2017-January). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CCTA.2017.8062459

Comparative analysis of energy-based criteria for dynamics-based robot motion optimization. / Hong, Youngsuk; Kim, Jinkyu; Park, Frank C.
1st Annual IEEE Conference on Control Technology and Applications, CCTA 2017. Institute of Electrical and Electronics Engineers Inc., 2017. p. 175-180 (1st Annual IEEE Conference on Control Technology and Applications, CCTA 2017; Vol. 2017-January).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Hong, Y, Kim, J & Park, FC 2017, Comparative analysis of energy-based criteria for dynamics-based robot motion optimization. in 1st Annual IEEE Conference on Control Technology and Applications, CCTA 2017. 1st Annual IEEE Conference on Control Technology and Applications, CCTA 2017, vol. 2017-January, Institute of Electrical and Electronics Engineers Inc., pp. 175-180, 1st Annual IEEE Conference on Control Technology and Applications, CCTA 2017, Kohala Coast, United States, 17/8/27. https://doi.org/10.1109/CCTA.2017.8062459

Hong Y, Kim J, Park FC. Comparative analysis of energy-based criteria for dynamics-based robot motion optimization. In 1st Annual IEEE Conference on Control Technology and Applications, CCTA 2017. Institute of Electrical and Electronics Engineers Inc. 2017. p. 175-180. (1st Annual IEEE Conference on Control Technology and Applications, CCTA 2017). doi: 10.1109/CCTA.2017.8062459

Hong, Youngsuk ; Kim, Jinkyu ; Park, Frank C. / Comparative analysis of energy-based criteria for dynamics-based robot motion optimization. 1st Annual IEEE Conference on Control Technology and Applications, CCTA 2017. Institute of Electrical and Electronics Engineers Inc., 2017. pp. 175-180 (1st Annual IEEE Conference on Control Technology and Applications, CCTA 2017).

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abstract = "We perform a comparative analysis of energy-based performance criteria for the dynamics-based optimization of robot trajectories. The performance criteria considered include minimum torque, electrical power loss, approximation to mechanical work, and energy loss due to friction. Our dynamics model takes into account rotor inertias and gearing, and also considers robots subject to a range of motion types and payloads. High fidelity numerical simulation experiments are performed and compared for the various performance criteria. Our analysis and findings refute some commonly held assumptions about dynamics-based robot motion optimization, and offer practical insights on how to effectively leverage robot dynamic models and optimization into industrial robot trajectory generation.",

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Comparative analysis of energy-based criteria for dynamics-based robot motion optimization

Abstract

Publication series

Conference

Bibliographical note

ASJC Scopus subject areas

Access to Document

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