| Issue |
MATEC Web Conf.
Volume 113, 2017
12th International Scientific-Technical Conference on Electromechanics and Robotics “Zavalishin’s Readings” - 2017
|
|
|---|---|---|
| Article Number | 02002 | |
| Number of page(s) | 5 | |
| Section | Robotics and Automation | |
| DOI | https://doi.org/10.1051/matecconf/201711302002 | |
| Published online | 20 June 2017 | |
Improving energy efficiency of a robotic system based on multiple analytical solutions for inverse kinematics
1 SPIIRAS, Laboratory of Autonomous Robotic, 199178 Saint-Petersburg, 14-th line of V.I., 39, Russia
2 UIIP NASB, Laboratory of Robotic Systems, 220012 Minsk Surganava str., 6, Belarus
* Corresponding author: iakovlev.r@mail.ru
The paper presents the results of a study devoted to the problem of improving the energy efficiency of mechanical motion of anthropomorphic robotic systems. Achieving higher energy efficiency is largely due to the implementation of improvements directly in the algorithms that ensure the movement of a robotic system. For this purpose, several existing analytical methods for solving the inverse kinematics problem for robotic walking platforms were analyzed. According to the survey, key areas where modification can improve the energy efficiency of mechanical motion in various RS are identified. The paper discusses the algorithm developed to optimize the solutions of the inverse kinematics problem in terms of energy consumption.
© The Authors, published by EDP Sciences, 2017
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