机械臂能量损失优化

Micro Pub Date : 2022-11-21 DOI:10.1109/CINTI-MACRo57952.2022.10029656

Paulo A. Salgado, T. Perdicoulis, P. Santos

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引用次数: 0

摘要

机器人的使用在整个行业广泛传播。最重要的是，机器人末端执行器跟踪预定的轨迹与最低的能量损失。为了解决这个问题，使用跟踪参数定义机器人轨迹，该参数使用Matlab®fntinunc函数和Particle swim优化算法进行优化。该方法在一个案例研究中进行了测试，能量损失降低了约96.15%。

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Energy loss optimisation of a robotic arm

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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Micro

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