{"title":"Energy loss optimisation of a robotic arm","authors":"Paulo A. Salgado, T. Perdicoulis, P. Santos","doi":"10.1109/CINTI-MACRo57952.2022.10029656","DOIUrl":null,"url":null,"abstract":"The use of robots is widely spread across the industry. It is paramount that the robot end-effector tracks a pre-defined trajectory with the lowest energy loss. To contribute to the solution of this problem, the robot trajectory is defined using a tracking parameter which is optimised using the Matlab® fntinunc function and the Particle Swam optimisation algorithm. This approach was tested for a case study with the energy loss being reduced in approximately 96.15%.","PeriodicalId":18535,"journal":{"name":"Micro","volume":"228 1","pages":"000101-000106"},"PeriodicalIF":0.0000,"publicationDate":"2022-11-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Micro","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/CINTI-MACRo57952.2022.10029656","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
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Abstract
The use of robots is widely spread across the industry. It is paramount that the robot end-effector tracks a pre-defined trajectory with the lowest energy loss. To contribute to the solution of this problem, the robot trajectory is defined using a tracking parameter which is optimised using the Matlab® fntinunc function and the Particle Swam optimisation algorithm. This approach was tested for a case study with the energy loss being reduced in approximately 96.15%.
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