Generation of energy efficient trajectories for NIMS3D, a three-dimensional cabled robot

Author

Borgstrom, Per Henrik ; Borgstrom, Nils Peter ; Stealey, Michael J. ; Jordan, Brett ; Sukhatme, Gaurav S. ; Batalin, Maxim A. ; Kaiser, William J.

Author_Institution

Dept. of Electr. Eng., Univ. of California at Los Angeles, Los Angeles, CA

fYear

2008

fDate

19-23 May 2008

Firstpage

2222

Lastpage

2227

Abstract

In this paper we describe an algorithm to generate energy efficient trajectories for NIMS3D, a three-dimensional cabled robotic platform. Optimized parabolic paths are used to exploit the relatively low I2R loss associated with operation in lower regions of the workspace. Trajectory optimization is sufficiently fast to enable real time operation. Experimental results on a physical system for a three cable deployment show substantial reductions in energy consumption as compared to linear trajectories.

Keywords

mobile robots; optimisation; I2R loss; NIMS3D; energy efficient trajectories; optimized parabolic paths; three-dimensional cabled robot; trajectory optimization; Actuators; Cables; Energy consumption; Energy efficiency; Manipulators; Pulleys; Pulse width modulation; Robot sensing systems; Robotics and automation; Trajectory;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2008. ICRA 2008. IEEE International Conference on

Conference_Location

Pasadena, CA

ISSN

1050-4729

Print_ISBN

978-1-4244-1646-2

Electronic_ISBN

1050-4729

Type

conf

DOI

10.1109/ROBOT.2008.4543544

Filename

4543544