科研之友
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摘要
We present a principal component-based method for generating, in real time, fast robot motions that minimize power consumption. Given a dynamic model of a robot, a sufficiently large set of torque-minimum motions are first obtained for pre-selected initial and final positions that also achieve minimum time while avoiding actuator saturation. These motions are then clustered according to the trajectory endpoints and shape. A principal component analysis is performed for each motion cluster, and the dominant principal components are used as basis functions in a linear interpolation scheme for generating fast, torque-efficient motions between arbitrary initial and final positions. Results obtained for both a six-axis industrial manipulator and a. wheeled mobile robot demonstrate that nearly optimal motions can be obtained in real-time using this scheme.
- 出版日期2008-6
