Energetically Optimal Trajectory for a Redundant Planar Robot by Means of a Nested Loop Algorithm

Authors

  • Harold Potter Electrical Engineering Department, Faculty of Engineering, University of Santiago of Chile (USACH), Chile https://orcid.org/0000-0002-9345-1956
  • John Kern Electrical Engineering Department, Faculty of Engineering, University of Santiago of Chile (USACH), Chile
  • Guillermo Gonzalez Electrical Engineering Department, Faculty of Engineering, University of Santiago of Chile (USACH), Chile https://orcid.org/0000-0002-6946-6728
  • Claudio Urrea Electrical Engineering Department, Faculty of Engineering, University of Santiago of Chile (USACH), Chile https://orcid.org/0000-0001-7197-8928

DOI:

https://doi.org/10.5755/j02.eie.30397

Keywords:

Redundant robot, Manipulator dynamics, Trajectory optimization, Software algorithms

Abstract

This work presents an optimal point-to-point trajectory planning method based on fourth degree polynomials to reduce the energy consumption of a redundant planar robot in the XY plane. The contribution of this study focuses on the development of a two-level nested optimization algorithm, which manages to optimize three elements: the Optimal Weighting Vector that establishes the influence of each joint on the total energy consumption of the robotic equipment; the optimal start and finish configurations of the trajectory; and the vector corresponding to the fifth coefficient of the trajectory generator polynomial. The tests are carried out with different optimization techniques and objective functions related to energy consumption to determine their best combination and achieve the minimum possible computation time and energy savings, according to the test conditions used. Furthermore, the energetic performance of the redundant manipulator is compared with its non-redundant version, limiting its operation to only two degrees of freedom in all its variants.

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Published

2022-04-28

How to Cite

Potter, H. ., Kern, J., Gonzalez, G. ., & Urrea, C. (2022). Energetically Optimal Trajectory for a Redundant Planar Robot by Means of a Nested Loop Algorithm. Elektronika Ir Elektrotechnika, 28(2), 4-17. https://doi.org/10.5755/j02.eie.30397

Issue

Section

AUTOMATION, ROBOTICS