Kinodynamic Motion Planning and Energy Loss Cost Function Modelling for a 2- DOF Robot Arm Manipulator

摘要

This paper proposes an energy efficient motion planning for industrial robots with a novel cost function formulation. The dynamics of the 2-DOF (degree of freedom) robot arm manipulator, models the inertia and mass related losses, Coriolis and centrifugal losses of each link, friction losses and losses related to the gravity. A DC motor is used in each joint to drive the manipulator. For the point-to-point (PTP) trajectories, a fifth order polynomial is considered. Furthermore, the torque analysis with respect to the already mentioned loss terms is done and its effect on the overall electrical and mechanical losses is discussed. These torques and losses analyses are gained by the forward dynamics and inverse kinematics of the 2-DOF manipulator. In the last part, the simulation results of the power losses cost function (PLCF) with respect to the terms associated to velocity and acceleration of each link in every single time instant of the motion is modelled.