TY - GEN
T1 - Energy-Based Approach for Robot Trajectory Selection in Task Space
AU - Jaiswal, Ankur
AU - Jha, Abhishek
AU - Mahanta, Golak Bihari
AU - Bhattacharjee, Neelanjan
AU - Sharma, Sanjay Kumar
N1 - Publisher Copyright:
© 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.
PY - 2023
Y1 - 2023
N2 - 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.
AB - 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.
UR - https://www.scopus.com/pages/publications/85177859888
UR - https://www.scopus.com/inward/citedby.url?scp=85177859888&partnerID=8YFLogxK
U2 - 10.1007/978-981-99-4634-1_14
DO - 10.1007/978-981-99-4634-1_14
M3 - Conference contribution
AN - SCOPUS:85177859888
SN - 9789819946334
T3 - Lecture Notes in Electrical Engineering
SP - 171
EP - 181
BT - Intelligent Control, Robotics, and Industrial Automation - Proceedings of International Conference, RCAAI 2022
A2 - Sharma, Sanjay
A2 - Subudhi, Bidyadhar
A2 - Sahu, Umesh Kumar
PB - Springer Science and Business Media Deutschland GmbH
T2 - International Conference on Robotics, Control, Automation and Artificial Intelligence, RCAAI 2022
Y2 - 24 November 2022 through 26 November 2022
ER -