Title: Optimal Robot Path Following for Minimal Time versus Energy Loss Trade-Off using Sequential Convex Programming
Authors: Debrouwere, Frederik
Van Loock, Wannes
Pipeleers, Goele
Tran Dinh, Quoc
Diehl, Moritz
De Schutter, Joris
Swevers, Jan
Issue Date: 27-Feb-2013
Host Document: Proceedings on the IEEE International Conference on Mechatronics pages:316-320
Conference: IEEE International Conference on Mechatronics location:Vicenza, Italy date:February 27 - March 1 2013
Abstract: This paper focusses on the time-energy optimal path
following for robots. This considers the problem of moving
along a predetermined geometric path with a minimal trade-off
between the motion time and the two major thermal energy losses
in electric actuators. Theses losses consist of resistive electrical
losses and mechanical friction losses. When only taking into
account the electrical losses for a simplified robotic manipulator,
a convex reformulation has been derived previously [1]. In
this paper we include the dynamic joint friction losses into
the objective. This also implies that we have to include the
dynamic joint friction into the robot equations of motion, which
appear in the torque constraints. Both the resulting objective and
torque constraints are non-convex. The present paper proposes
an efficient sequential convex programming (SCP) approach to
solve the resulting optimal control problem. A key step here is
to decompose the non-convex functions involved as a difference
of convex functions. Numerical simulations illustrate the fast
convergence of the proposed method in only a few SCP iterations,
confirming the efficiency of the proposed framework. This high
efficiency allows for an efficient tool to investigate the trade off
between time-optimality and energy-optimality.
Publication status: published
KU Leuven publication type: IC
Appears in Collections:Production Engineering, Machine Design and Automation (PMA) Section
ESAT - STADIUS, Stadius Centre for Dynamical Systems, Signal Processing and Data Analytics

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