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Fast robot motion generation using principal components: Framework and algorithms
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DOI：10.1109/TIE.2007.907667.png)
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摘要
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We present a principal component-based method for generating, in real time, fast robot motions that minimize power consumption. Given a dynamic model of a robot, a sufficiently large set of torque-minimum motions are first obtained for pre-selected initial and final positions that also achieve minimum time while avoiding actuator saturation. These motions are then clustered according to the trajectory endpoints and shape. A principal component analysis is performed for each motion cluster, and the dominant principal components are used as basis functions in a linear interpolation scheme for generating fast, torque-efficient motions between arbitrary initial and final positions. Results obtained for both a six-axis industrial manipulator and a. wheeled mobile robot demonstrate that nearly optimal motions can be obtained in real-time using this scheme.
Keyword:
principal component analysis (PCA)
robot motion generation
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期刊
IF:
7.2
论文数:
1.8W
被引数:
9.8W
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