ロボティクスにおけるエネルギー消費：簡易モデリング手法
Energy Consumption in Robotics: A Simplified Modeling Approach
ロボットの軌道最適化による省エネのため、標準ツールの微分可能な慣性・運動学モデルとROS計画手法を統合し、簡易な電気モデルを追加した手法を提案。協働ロボットで精度を検証した。
著者: Valentyn Petrichenko, Lisa Lokstein, Gregor Thiele, Kevin Haninger
分類: cs.RO
原文アブストラクト
The energy use of a robot is trajectory-dependent, and thus can be reduced by optimization of the trajectory. Current methods for robot trajectory optimization can reduce energy up to 15\% for fixed start and end points, however their use in industrial robot planning is still restricted due to model complexity and lack of integration with planning tools which address other concerns (e.g. collision avoidance). We propose an approach that uses differentiable inertial and kinematic models from standard open-source tools, integrating with standard ROS planning methods. An inverse dynamics-based energy model is optionally extended with a single-parameter electrical model, simplifying the model identification process. We compare the inertial and electrical models on a collaborative robot, showing that simplified models provide competitive accuracy and are easier to deploy in practice.
