Details
| Original language | English |
|---|---|
| Publication status | Published - 2013 |
| Event | 2013 16th International Conference on Advanced Robotics, ICAR 2013 - Montevideo, Uruguay Duration: 25 Nov 2013 → 29 Nov 2013 |
Conference
| Conference | 2013 16th International Conference on Advanced Robotics, ICAR 2013 |
|---|---|
| Country/Territory | Uruguay |
| City | Montevideo |
| Period | 25 Nov 2013 → 29 Nov 2013 |
Abstract
The improvement of energy efficiency in automation and robotic systems still has high significance in engineering research. This paper presents experimental results of minimum energy trajectory optimization for multi-axis manipulators using electrical energy exchange via the shared inverter DC link. Thus, existing simulation findings demonstrating the potential of the proposed minimum energy optimization approach are validated. In this context, a global optimization method is applied utilizing an advanced cost function formulation that is based on an energy flow model including all servo drive components. After the validation of the utilized system model, increased efficiency improvements are proven and compared to established methods. The presented approach as well as the experimental results are fully transferable to any kind of multi-axis system comprising DC link energy supply.
ASJC Scopus subject areas
- Computer Science(all)
- Artificial Intelligence
- Computer Science(all)
- Human-Computer Interaction
- Computer Science(all)
- Software
Sustainable Development Goals
Cite this
- Standard
- Harvard
- Apa
- Vancouver
- BibTeX
- RIS
2013. Paper presented at 2013 16th International Conference on Advanced Robotics, ICAR 2013, Montevideo, Uruguay.
Research output: Contribution to conference › Paper › Research › peer review
}
TY - CONF
T1 - Experimental validation of advanced minimum energy robot trajectory optimization
AU - Hansen, Christian
AU - Kotlarski, Jens
AU - Ortmaier, Tobias
PY - 2013
Y1 - 2013
N2 - The improvement of energy efficiency in automation and robotic systems still has high significance in engineering research. This paper presents experimental results of minimum energy trajectory optimization for multi-axis manipulators using electrical energy exchange via the shared inverter DC link. Thus, existing simulation findings demonstrating the potential of the proposed minimum energy optimization approach are validated. In this context, a global optimization method is applied utilizing an advanced cost function formulation that is based on an energy flow model including all servo drive components. After the validation of the utilized system model, increased efficiency improvements are proven and compared to established methods. The presented approach as well as the experimental results are fully transferable to any kind of multi-axis system comprising DC link energy supply.
AB - The improvement of energy efficiency in automation and robotic systems still has high significance in engineering research. This paper presents experimental results of minimum energy trajectory optimization for multi-axis manipulators using electrical energy exchange via the shared inverter DC link. Thus, existing simulation findings demonstrating the potential of the proposed minimum energy optimization approach are validated. In this context, a global optimization method is applied utilizing an advanced cost function formulation that is based on an energy flow model including all servo drive components. After the validation of the utilized system model, increased efficiency improvements are proven and compared to established methods. The presented approach as well as the experimental results are fully transferable to any kind of multi-axis system comprising DC link energy supply.
UR - http://www.scopus.com/inward/record.url?scp=84899463879&partnerID=8YFLogxK
U2 - 10.1109/ICAR.2013.6766463
DO - 10.1109/ICAR.2013.6766463
M3 - Paper
AN - SCOPUS:84899463879
T2 - 2013 16th International Conference on Advanced Robotics, ICAR 2013
Y2 - 25 November 2013 through 29 November 2013
ER -