Publication Type : Book Chapter
Publisher : Springer Nature Singapore
Source : Lecture Notes in Electrical Engineering
Url : https://doi.org/10.1007/978-981-99-4634-1_14
Campus : Chennai
School : School of Engineering
Department : Mechanical Engineering
Year : 2023
Abstract : This work describes a simplified framework for assessment and selection of an appropriate end-effector trajectory among the multiple choices. The proposed framework is based on utilization of the kinematic and dynamic model of the robot for trajectory selection on the basis of minimum energy requirement. The effectiveness of the proposed approach is demonstrated in terms of task space trajectory planning problem for a six degrees of freedom industrial manipulator. One major concern in the trajectory planning problem is to select a best trajectory for execution by the robot, and the proposed framework resolves this issue by considering the energy requirement during execution of the trajectory.
Cite this Research Publication : Ankur Jaiswal, Abhishek Jha, Golak Bihari Mahanta, Neelanjan Bhattacharjee, Sanjay Kumar Sharma, Energy-Based Approach for Robot Trajectory Selection in Task Space, Lecture Notes in Electrical Engineering, Springer Nature Singapore, 2023, https://doi.org/10.1007/978-981-99-4634-1_14