An energy optimization based planning approach for moving bottle grasping task using a seven-DoF robotic arm

摘要

This paper presents an energy optimization based planning method for grasping bottles on an assembly line with a constant velocity using a seven-DOF robotic arm. The interception region is the intersection of the assembly line and the workspace of the end-effector of the robot. There will be a dedicated optimal final pose in the interception region when grasping occurs so that the robot consumes least energy. On the other hand, even with the same final pose of the end-effector, there will be an optimal trajectory from the start pose to the final pose that consumes least energy. We use Gaussian quadrature optimization method provided by GPOPS with minimum energy cost criteria to solve the two optimization problems at the same time. Simulation shows that optimization based planning approach consumes lower energy than proportional navigation guidance and polynomial planning methods.