This work describes a simplified framework for assessment and selection of an appropriate end-effector trajectory among the multiple choices. The proposed framework is based on utilization of the kinematicKinematics and dynamicDynamics model of the robot for trajectory selection on the basis of minimum energy requirement. The effectiveness of the proposed approach is demonstrated in terms of task spaceTask Spacetrajectory planningTrajectory Planning problem for a six degrees of freedomDegrees of Freedom industrial manipulatorManipulator. One major concern in the trajectory planningTrajectory Planning problem is to select a best trajectory for execution by the robot, and the proposed framework resolves this issue by considering the energy requirement during execution of the trajectory.
Energy-Based Approach for Robot Trajectory Selection in Task Space
Lect. Notes Electrical Eng.
International Conference on Robotics, Control, Automation and Artificial Intelligence ; 2022 November 24, 2022 - November 26, 2022
18.11.2023
11 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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