| Autor: |
Soonkyum Kim, Frank Chongwoo Park |
| Předmět: |
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| Zdroj: |
IEEE Transactions on Industrial Electronics; Jun2008, Vol. 55 Issue 6, p2506-2516, 11p |
| Abstrakt: |
We present a principal component-based method for generating, in real time, fast robot motions that minimize power consumption. Given a dynamic model of a robot, a sufficiently large set of torque-minimum motions are first obtained for pre- selected initial and final positions that also achieve minimum time while avoiding actuator saturation. These motions are then clustered according to the trajectory endpoints and shape. A principal component analysis is performed for each motion cluster, and the dominant principal components are used as basis functions in a linear interpolation scheme for generating fast, torque-efficient motions between arbitrary initial and final positions. Results obtained for both a six-axis industrial manipulator and a wheeled mobile robot demonstrate that nearly optimal motions can be obtained in real-time using this scheme. [ABSTRACT FROM AUTHOR] |
| Databáze: |
Complementary Index |
| Externí odkaz: |
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