MATEC Web Conf.
Volume 113, 201712th International Scientific-Technical Conference on Electromechanics and Robotics “Zavalishin’s Readings” - 2017
|Number of page(s)||5|
|Section||Robotics and Automation|
|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: firstname.lastname@example.org
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
This is an Open Access article distributed under the terms of the Creative Commons Attribution License 4.0, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
Current usage metrics show cumulative count of Article Views (full-text article views including HTML views, PDF and ePub downloads, according to the available data) and Abstracts Views on Vision4Press platform.
Data correspond to usage on the plateform after 2015. The current usage metrics is available 48-96 hours after online publication and is updated daily on week days.
Initial download of the metrics may take a while.