Improving energy efficiency of a robotic system based on multiple analytical solutions for inverse kinematics

Abstract

Abstract. 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.

A study on a new criterion for minimum-energy perfect control in the state-space framework

“…The issue of minimum-energy control in different control strategies is a complex problem and is attractive for a whole range of researchers dealing with both theoretical and practical problems. [1][2][3][4][5][6][7][8] Modern industry control systems impose restrictions on the control signals due to the existing technological limitations. [9][10][11] In order to meet the requirements of robustness, a number of techniques are applied in the engineering tasks.…”